Research on Invalid Target Filtering and Target Tracking Algorithm Optimization in Millimeter-Wave Radar Technology Tianjin University

Format:

Book

Conference/Event

Author/Creator:

Liu, Qi, author.

Contributor:

Meng, Chunyang

Kang, Song

Xie, Hui

Conference Name:

SAE 2024 Vehicle Powertrain Diversification Technology Forum (2024-12-06 : Xi'An, China)

Language:

English

Physical Description:

1 online resource cm

Place of Publication:

Warrendale, PA SAE International 2025

Summary:

The application of millimeter-wave radar technology in autonomous driving has become increasingly widespread with the rapid development of intelligent transportation systems. However, millimeter-wave radar is easily affected by environmental noise, multipath reflections, and electromagnetic interference, resulting in a large number of invalid target signals that reduce the system's detection accuracy and safety. We proposes a method for filtering invalid targets based on interference signal characteristics and an Adaptive Interactive Multiple Model Kalman Filter (IMM-KF) target tracking algorithm. First, we effectively filter out empty targets, ghost targets, and false targets through a threshold method and lifecycle assessment, achieving a filtering rate exceeding 99.8%. Second, the improved Adaptive IMM-KF algorithm, combined with the Hungarian algorithm, associates and tracks multiple targets. The root mean square error (RMSE) of our methods is reduced by 7.07% and 8.05% compared to the traditional IMM and Unscented Kalman Filter (UKF) algorithms in scenarios with a single pedestrian moving in a straight line. And in scenarios involving both pedestrians and motor vehicles, the RMSE is reduced by 4.29% and 7.61% compared to the traditional IMM and UKF algorithms, respectively. Real-vehicle experiments have validated the robustness and accuracy of the proposed method across various scenarios

Notes:

Vendor supplied data

Publisher Number:

2025-01-7035

Access Restriction:

Restricted for use by site license