Estimation for Direction of Signal Arrival based on Area Density of Estimated Lines for Ultrasonic Sensor Array

We consider to estimate target positions in front of a vehicle with multiple ultrasonic sensors to realize comfortable and safely traffic society. In the case of the estimation of target positions by multilateration, positioning errors in the direction of arc from sensors in front of the vehicle becomes large. To reduce the positioning error, we focus on another estimation which estimates the directions of the arrival of the reflected signals from targets. Our method reduces false direction errors by using the area density function derived by the estimated directions. We confirm the estimation performance for the proposed method through computer simulation.