Tracking overtaking vehicles is an integral aspect of Lane Change Assistant Systems. For this, in this work, a set of six radar sensors is mounted on a test vehicle. As the sensors generate spatially extended measurements from different parts of the vehicles, the estimation of position and velocity of the surrounding vehicles leads to an extended target tracking problem. This is especially the case when a vehicle is located on a nearside lane. A method for tracking these targets is proposed, under the assumption that a target vehicle comprises a random number of reflection centers located on a rectangular structure. To estimate the existence of a reflector in combination with the vehicle target state, the Joint Integrated Probabilistic Data Association Filter (JIPDA) is applied.
Tracking of vehicles on nearside lanes using multiple radar sensors
2014-10-01
1646373 byte
Conference paper
Electronic Resource
English
Dedicated Bus and Queue Jumper Lanes at Signalized Intersections with Nearside Bus Stops
Transportation Research Record | 2015
|Toucan crossing : trials of nearside equipment
TIBKAT | 1998
|