77 GHz Radar Based Multi-Target Tracking Algorithm on Expressway Condition Tongji University

Format:

Book

Conference/Event

Author/Creator:

Wu, Zhihong, author.

Contributor:

Li, Fu-Xiang

Lu, Ke

Zhu, Yuan

Conference Name:

SAE 2022 International Automotive Safety, Security and Testing Congress (2022-11-24 : Shanghai, China)

Language:

English

Physical Description:

1 online resource cm

Place of Publication:

Warrendale, PA SAE International 2022

Summary:

Multi-Target tracking is a central aspect of modeling the surrounding environment of autonomous vehicles. Automotive millimeter-wave radar is a necessary component in the autonomous driving system. One of the biggest advantages of radar is it measures the velocity directly. Another big advantage is that the radar is less influenced by environmental conditions. It can work day and night, in rainy or snowy conditions. In the expressway scenario, the forward-looking radar can generate multiple objects, to properly track the leading vehicle or neighbor-lane vehicle, a multi-target tracking algorithm is required. How to associate the track and the measurement or data association is an important question in a multi-target tracking system. This paper applies the nearest-neighbor method to solve the data association problem and uses an extended Kalman filter to update the state of the track. Finally, the tracking algorithm is tested on the vehicle equipped with millimeter radar and the result shows that the lateral and longitudinal position and velocity accuracy can satisfy the need for adaptive cruise control or other application

Notes:

Vendor supplied data

Publisher Number:

2022-01-7129

Access Restriction:

Restricted for use by site license