Journal
2019 19TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2019)
Volume -, Issue -, Pages 1589-1593Publisher
IEEE
DOI: 10.23919/iccas47443.2019.8971534
Keywords
Object Tracking; Radar Sensor; Convex Interpolation; Autonomous Vehicle; Kalman Filter
Categories
Funding
- Industrial Source Technology Development Programs [10082585, 10076707]
- Ministry of Trade, Industry and Energy (MOTIE, Korea)
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In this paper, we propose a method to reduce the object vehicle tracking error of the radar system. A radar sensor is suitable as a vehicle sensor, but it has measurement uncertainty due to the operating mechanism and reflection points. To cope with these problems, we divide the zones uniformly and use relative location information to identify surrounding vehicles and then analyze the error characteristics of each zone. As a result of analyzing, the accuracy of the radar was different depending on the object vehicle position. Then, we applied a convex interpolation to consider radar accuracy. We used the convex interpolation method to effectively track the object. The resulting estimate is more accurate than the radar measurement. We confirmed the utility of the proposed method through a scenario-based object vehicle tracking experiment.
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