In-vehicle devices, identification methods, computer programs, and in-vehicle systems

Abstract

To provide an in-vehicle device that can efficiently control the movement of a vehicle. [Solution] The in-vehicle device is an in-vehicle device mounted on a vehicle and includes an identification unit that identifies the first object and the second object based on first information indicating the position of a first object detected by a first sensor mounted on the vehicle, second information indicating the position of a second object detected by a second sensor outside the vehicle, and the tracking result of the position of the first object or the second object. The identification unit sets a region as a validation gate centered on the predicted current position indicated by the tracking result, where the Mahalanobis distance from that position is less than or equal to a predetermined threshold, and identifies the first object and the second object as the same object if the positions of the first object and the second object are included within the same validation gate.

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