This article presents a implementation of a two- dimensional tracking filter in an automotive application. A headway alert system is a considered application for this tracking system, whose key component is a Kalman filter estimating and filtering two-dimensional trajectories of vehicles and various other obstacles that may occur in a traffic scenario. A reliable tracking system is essential for developing a robust headway alert application to identify obstacles and to avoid false warnings. The data, on which the Kalman filter algorithm is based on, is provided by a prototype laser range finder mounted in front of the host car and delivering range and angular data from obstacles in front. These data are filtered and combined with ego-motion data from the host car to decide whether to warn the driver about a potential threat.


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    Titel :

    Laser range finder based obstacle tracking by means of a two-dimensional Kalman filter


    Beteiligte:
    Hoehmann, L. (Autor:in) / Kummert, A. (Autor:in)


    Erscheinungsdatum :

    2007


    Format / Umfang :

    6 Seiten, 7 Quellen



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




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