The paper deals with the environmental perception in highway scenarios with 24 GHz automotive radar sensors. These sensors are part of an environmental perception system of an advanced highway assistant which supports the driver by lateral and longitudinal control. Radar measurements in automotive applications have two main challenges: typically, the measurement data of radar sensors does not include geometry information of detected objects. Furthermore, the measurement data suffers from moving reflection points on the target. In order to cope with these challenges a new filtering approach is used based on the combination of a Kalman filter and a two-dimensional fuzzy set description. The membership values of this discrete fuzzy set are describing how strong the evaluated position element was supported by measurements of the radar. For the combination of predicted object data with new measurements a modified Hamacher operator is used that is able to take the weight of the fused data elements into account.
Target geometry estimation and tracking with 24 GHz automotive radar sensors for an advanced highway assistant
2007
7 Seiten, 8 Bilder, 6 Quellen
Conference paper
Storage medium
English
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