계층적 레이더 네트워크에 의한 객체 차량 추적

Abstract

In this paper, we proposed a hierarchical radar network to improve object tracking performance. In radar-based object vehicle tracking, there is an inaccuracy problem of radar and sensor fusion problem for object vehicle detection in various areas around ego vehicle. To cope with these problems, we have found that the radar accuracy was different depending on the detection area as a result of analyzing the radar accuracy. Then, we apply interacting multiple model (IMM) and sensor fusion considering the analyzed radar accuracy. Our proposed hierarchical radar network improves radar performance and shows reliable object tracking performance around the ego vehicle.