Lateral motion tracking of automobiles

Radar sensors, though successful in range parameters tracking, fall short in lateral characteristics tracking. On the other hand, vision systems carry out perfect estimation for lateral motion, but range parameters estimation does not surpass the performance of radar. The exact estimation of vehicle’s motion characteristics appears to be a crucial issue in modern automobile collision avoidance systems. Thus, a fusion system comprising of a radar and a FLIR could offer an overall accurate estimation for targets moving in highways. The main scope of the paper is the presentation of a double Kalman based filter which strives in lateral motion estimation mainly. The performance of the filter is tested by means of simulated data sets and compared with the results of the popular fusion method of cross-covariance matrix and the single sensor tracking for each sensor.

[1]  Paul Levi,et al.  Robust vehicle tracking fusing radar and vision , 2001, Conference Documentation International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI 2001 (Cat. No.01TH8590).

[2]  A. Polychronopoulos,et al.  Multiple sensor collision avoidance system for automotive applications using an IMM approach for obstacle tracking , 2002, Proceedings of the Fifth International Conference on Information Fusion. FUSION 2002. (IEEE Cat.No.02EX5997).

[3]  Stefan Gehrig,et al.  A TRAJECTORY-BASED APPROACH FOR THE LATERAL CONTROL OF VEHICLE FOLLOWING SYSTEMS , 1998 .

[4]  Takeo Kato,et al.  An obstacle detection method by fusion of radar and motion stereo , 2002, SICE 2003 Annual Conference (IEEE Cat. No.03TH8734).

[5]  Sridhar Lakshmanan,et al.  CLARK: a heterogeneous sensor fusion method for finding lanes and obstacles , 2000, Image Vis. Comput..

[6]  Frank Dellaert,et al.  Model-based car tracking integrated with a road-follower , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[7]  Samuel S. Blackman,et al.  Multiple-Target Tracking with Radar Applications , 1986 .

[8]  Yaakov Bar-Shalom,et al.  Multitarget-Multisensor Tracking: Applications and Advances , 1992 .

[9]  Werner von Seelen,et al.  FUSION OF DIFFERENT SENSORS AND ALGORITHMS FOR SEGMENTATION , 1998 .