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Estimating Polynomial Structures from Radar Data
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2010 (English)Report (Other academic)
Abstract [en]

Situation awareness for vehicular safety and autonomy functions includes knowledge of the drivable area. This area is normally constrained between stationary road-side objects as guard-rails, curbs, ditches and vegetation. We consider these as extended objects modeled by polynomials along the road, and propose an algorithm to track each polynomial based on noisy range and bearing detections, typically from a radar. A straightforward Kalman filter formulation of the problem suffers from the errors-in-variables (EIV) problem in that the noise enters the system model. We propose an EIV modification of the Kalman filter and demonstrates its usefulness using radar data from public roads.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2010. , 10 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2955
Keyword [en]
Extended object- -Extended target tracking--Polynomial--Errors in output--Errors in variables--Automotive radar--Road map
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-97601ISRN: LiTH-ISY-R-2955OAI: oai:DiVA.org:liu-97601DiVA: diva2:649232
Projects
SEFSCadics
Funder
Swedish Research CouncilSwedish Foundation for Strategic Research
Available from: 2013-09-17 Created: 2013-09-17 Last updated: 2014-09-01Bibliographically approved

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Authority records BETA

Lundquist, ChristianGustafsson, Fredrik

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf