칼만 필터를 이용한 FMCW 레이더에서의 선행 차량 탐지 및 추적

Abstract

This paper proposes detection and tracking of vehicles in automotive frequency modulation continuous wave (FMCW) radar with Kalman Filter. In conventional ACC(Adaptive Cruise Control) system, it is required to keep the distance and the velocity from forward vehicles. In this paper, we propose the estimation method to track the forward vehicle at traffic congestion or inner cities through Kalman Filter. We predict and update the position, velocity and acceleration of the forward vehicles in the proposed method. We confirm that the mean square errors of position, velocity and acceleration are acceptable through the simulation studies made up from the scenario of the expected situation.