Observable dynamics and coordinate systems for automotive target tracking

被引：7
作者：
Altendorfer, Richard
机构：
来源：
2009 IEEE INTELLIGENT VEHICLES SYMPOSIUM, VOLS 1 AND 2 | 2009年
关键词：
D O I：
10.1109/IVS.2009.5164369
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
We investigate several coordinate systems and dynamical vector fields for target tracking to be used in driver assistance systems. We show how to express the discrete dynamics of maneuvering target vehicles in arbitrary coordinates starting from the target's and the own (ego) vehicle's assumed dynamical model in global coordinates. We clarify the notion of "ego compensation" and show how non-inertial effects are to be included when using a body-fixed coordinate system for target tracking. We finally compare the tracking error of different combinations of target tracking coordinates and dynamical vector fields for simulated data.
引用
收藏
页码：741 / 746
页数：6
相关论文
共 14 条
[1]  
Bar-Shalom T. K. Y., 2001, Estimation with Applications to Tracking and Navigation
[2]  
Bay J.S., 1999, FUNDAMENTALS LINEAR
[3]  
Bühren M, 2007, INT CONF ACOUST SPEE, P313
[4]  
Goldstein H, 1980, CLASSICAL MECH
[5]  
Gustafsson F, 1996, IEEE DECIS CONTR P, P3145, DOI 10.1109/CDC.1996.573612
[6]   On nonlinear transformations of stochastic variables and its application to nonlinear filtering [J].
Gustafsson, Fredrik ;
Hendeby, Gustaf .
2008 IEEE INTERNATIONAL CONFERENCE ON ACOUSTICS, SPEECH AND SIGNAL PROCESSING, VOLS 1-12, 2008, :3617-3620
[7]   Survey of maneuvering target tracking. Part I: Dynamic models [J].
Li, XR ;
Jilkov, VP .
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS, 2003, 39 (04) :1333-1364
[8]  
MAHLISCH M, 2007, P 4 INT WORKSH INT T
[9]  
Matzka S., 2008, P IEEE INT C MULT FU, P189
[10]   Multi-target multi-object radartracking [J].
Möbus, R ;
Joos, A ;
Kolbe, U .
IEEE IV2003: INTELLIGENT VEHICLES SYMPOSIUM, PROCEEDINGS, 2003, :489-494
12