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Research on Tracking Algorithm for Forward Target Vehicle Using Millimeter-Wave Radar
ISSN: 0148-7191, e-ISSN: 2688-3627
To be published on April 14, 2020 by SAE International in United States
In order to solve the problem that the millimeter-wave radar can’t be directly used for target tracking due to measurement can’t reflect the historical state information of the target, the target measurement information outside the millimeter- wave radar detection range is eliminated by the data plausibility judgment method based on the millimeter-wave radar detection parameters. In order to eliminate clutter interference, target clustering by the Manhattan distance achieve multiple target measurements into one target measurement value. The data association by Nearest Neighbor to determine the measurement information received by the sensor and the real target correspondence. The relative radial distance, relative radial velocity and azimuth angle of the target vehicle detected by the millimeter-wave radar are based on the millimeter-wave radar coordinate system, because the millimeter-wave radar is installed in the front of the vehicle and fixed on the vehicle body. As the vehicle detected by the millimeter-wave radar in the course of driving generally has no vertical direction or vertical velocity is small, and the mobility of moving state is small, the constant acceleration model of forward target vehicle is deduced and established to describe the moving state of forward target vehicle. The track and optimize of motion state are estimated by the algorithm of adaptive Kalman filter, because it is difficult to determine the statistics of the system process noise and measure noise. Differential Position System is formed by installing Base Station on the ground and high-precision inertial navigator RT3000 on the ego-vehicle and target-vehicle, respectively. The ego-vehicle and the target-vehicle realizes communication by the RT-Range, so that the relative distance and velocity information between the two vehicles can be obtained in real time to verify the accuracy of the millimeter-wave radar target tracking algorithm. Finally, the feasibility and accuracy of the proposed algorithm is verified by the actual road experiments.