The Target Vehicle Movement State Estimation Method with Radar Based on Kalman Filtering Algorithm

Xin Jia; Zuo Long Wu; Hsin Guan

doi:10.4028/www.scientific.net/AMM.347-350.638

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 347-350The Target Vehicle Movement State Estimation...

The Target Vehicle Movement State Estimation Method with Radar Based on Kalman Filtering Algorithm

Abstract:

In this paper, based on Kalman filtering algorithm, a method of target vehicle motion state radar estimation with radar (or lidar) is presented. The state equations is established based on rigid plane dynamics theory, and then with a Kalman filter to do radar data processing, the position, velocity and acceleration of the target vehicle can be estimated at the same time, so that to cover the shortage that acceleration information can not be gained with radar system. Through simulation and field tests it is verified that the detection accuracy of position and velocity of target vehicle is increasing, and the acceleration of target vehicle can be estimated effectively and accurately.

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Periodical:

Applied Mechanics and Materials (Volumes 347-350)

Pages:

638-642

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.347-350.638

Citation:

Cite this paper

Online since:

August 2013

Authors:

Xin Jia, Zuo Long Wu, Hsin Guan

Keywords:

Acceleration Estimation, Intelligent Vehicle, Kalman Filter (KF), Radar (Lidar), Target Vehicle

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