Method of Vehicle Cut-In Action Recognition Using Vehicular Radar

It was helpful for the ACC cars to smoothly control its own velocity if the cut-in actions of other vehicles were detected early and rapidly. The cut-in process was analyzed. Based on target information obtained by vehicular radar, the distribution of the target cut-in characteristics was showed in the y-v(y) space and a kind of detector was proposed to recognize the cut-in action. Because of the discontinuity difference of lateral position, which could not reflect motion state of the target vehicle and had great impact on the detecting results, a kernel density estimation approach was used for data pretreatment. Finally, the detector boundaries were given and verified by experiment. The experiment results show that the detecting method recognizes the cut-in action accurately and timely whether from right or left side.