access icon free Automotive radar system for multiple-vehicle detection and tracking in urban environments

In this study, an enhanced approach for automotive radar systems is proposed to solve the detection, tracking, and track management problem in the presence of clutter with high accuracy and low computational cost. The unscented Kalman filter (UKF) with a constant turn rate and acceleration (CTRA) dynamic model is employed for target tracking, and the tracking accuracy is enhanced by incorporating the linear regression (LR) algorithm into the UKF-CTRA algorithm. We investigate, for the first time, the Joint Probabilistic Data Association (JPDA) algorithm for data association, and the composite M/N tests for track management. The capability of the proposed approach (CTRA-UKF-LR-JPDA-composite-M/N-tests) is demonstrated by comparing it with various algorithms for different single and multi-target tracking scenarios and for various sets of parameter regimes. The results show the superior performance of the proposed method over other existing techniques in automotive radar systems. This reveals the effectiveness of the proposed algorithm as a promising technique in automotive applications.

Inspec keywords: target tracking; Kalman filters; probability; regression analysis; sensor fusion; nonlinear filters; radar detection; road vehicle radar; radar tracking; automobiles

Other keywords: tracking accuracy; urban environments; automotive radar system; low computational cost; multitarget tracking; constant turn rate and acceleration dynamic model; multiple-vehicle tracking; track management problem; CTRA-UKF-LR-JPDA-composite-M/N-tests; single target tracking; joint probabilistic data association algorithm; linear regression algorithm; multiple-vehicle detection; unscented Kalman filter; UKF-CTRA algorithm

Subjects: Signal detection; Other topics in statistics; Radar equipment, systems and applications; Filtering methods in signal processing

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