Forward collision avoidance systems have shown to be a particularly effective crash‐avoidance technology. Multi‐vehicle tracking capabilities play an important role in the real‐world performance and effectiveness of such systems. In order to effectively and accurately track vehicles in a moving platform and in complicated road environments, the authors proposed a multi‐vehicle tracking algorithm based on an improved particle filter. First, the authors used a vehicle disappearance detection and handling mechanism based on the normalised area of the minimum circumscribed rectangle of particle distributions. This mechanism is used to verify whether a new target is a vehicle and can also handle the vehicle exit during the tracking phase. Next, an improved particle filter‐based framework, which includes a new process dynamical distribution, allowed for multi‐vehicle tracking capabilities was used for vehicle tracking. Finally, an effective occlusion detection and handling mechanism was used to address the significant occlusion between vehicles. The combination of these added improvements in the algorithm results in the enhancement of the vehicle tracking rate in a variety of challenging conditions. Experimental tests carried out from different datasets show excellent performance in multi‐vehicle tracking, in terms of accuracy in complex traffic situations and under different lighting conditions.
On‐road multi‐vehicle tracking algorithm based on an improved particle filter
IET Intelligent Transport Systems ; 9 , 4 ; 429-441
2015-05-01
13 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
crash‐avoidance technology , process dynamical distribution , forward collision avoidance systems , driver information systems , handling mechanism , on‐road multivehicle tracking algorithm , object detection , advanced driver assistance systems , complex traffic situations , occlusion detection , particle filtering (numerical methods) , lighting conditions , particle filter‐based framework , intelligent transport systems , road vehicles , object tracking , intelligent transportation systems , vehicle disappearance detection , particle distributions
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