This paper presents a vehicle tracking system for automatic cruise control (ACC) applications. A laser scanner mounted on a vehicle is used as the sensor and delivers range data of a horizontal plane in front of the vehicle up to a maximum range of 100 meters. A tracking algorithm is implemented that is able to compute the position, speed, and acceleration of all vehicles in the detection area. The tracking system runs on common PC hardware in real time and uses Kalman-Filters with a kinematic model of the vehicles. During test drives the real time performance and accuracy is shown.
Vehicle tracking with a laser scanner
Fahrzeugführung mit einem Laserscanner
1998
8 Seiten, 6 Bilder, 7 Quellen
Conference paper
English
Vehicle tracking with a laser scanner
Automotive engineering | 1998
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