Tracking vehicles using radar detections
Paper in proceedings, 2007

This paper is concerned with the problem of tracking vehicles using radar detections. In particular, we deal with problems where multiple detections are received from each target. According to recent studies, automotive radar sensors often receive detections from a discrete set of reflection centers. From these results, we develop a family of sensor models suitable for tracking. A significant difficulty in performing tracking using models from this family is that it involves solving a data association problem with a large number of association hypotheses. To reduce the complexity of this problem, we propose a framework where similar hypotheses are joined into groups. Following this approximation, basic data association algorithms can be implemented and initial studies using both simulated data and real measurements show a promising performance.

Author

Joakim Gunnarsson

Chalmers, Signals and Systems, Signalbehandling och medicinsk teknik, Signal Processing

Lennart Svensson

Chalmers, Signals and Systems, Signalbehandling och medicinsk teknik, Signal Processing

Lars Hammarstrand

Chalmers, Signals and Systems, Signalbehandling och medicinsk teknik, Signal Processing

Fredrik Sandblom

Chalmers, Signals and Systems

2007 IEEE Intelligent Vehicles Symposium, IV 2007; Istanbul; Turkey; 13 June 2007 through 15 June 2007

296-302

Subject Categories

Signal Processing

Other Electrical Engineering, Electronic Engineering, Information Engineering

ISBN

1424410681