Linear recursive target state and time-to-collision estimator for automotive collision warning system

Seul Ki Han, Won Sang Ra, Ick Ho Whang, Jin Bae Park

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper proposes a new linear recursive target state and time-to-collision estimator for the development of the automotive collision warning system. The addressed problem can be cast into the representative nonlinear state estimation under cluttered environment. To prevent the tracking performance degradation due to the inherent nonlinearity between the polar coordinates measurements of the automotive radar and the target state, a practical linear filter design scheme employing the estimated line-of-sight (LOS) Cartesian coordinate system (ELCCS) is proposed. ELCCS is redefined by using a priori LOS estimates in every update period in order to ensure the unbiasedness of the proposed linear tracking filter. Moreover, in order to effectively cope with the cluttered environment and to enhance the target tracking performance, a modified probabilistic data association filter (MPDAF) is newly proposed. Finally, using the most probable closing velocity and range measurements within the validation region, a quasi-optimal linear robust time-to-collision (TTC) estimator is designed. For its linear recursive filter structure, the proposed method is more suitable for the development of the performed and reliable collision warning system. The performance of the proposed scheme is demonstrated by computer simulations.

Original languageEnglish
Title of host publicationProceedings
Subtitle of host publicationIECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society
Pages615-621
Number of pages7
DOIs
Publication statusPublished - 2011 Dec 1
Event37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011 - Melbourne, VIC, Australia
Duration: 2011 Nov 72011 Nov 10

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011
CountryAustralia
CityMelbourne, VIC
Period11/11/711/11/10

    Fingerprint

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Han, S. K., Ra, W. S., Whang, I. H., & Park, J. B. (2011). Linear recursive target state and time-to-collision estimator for automotive collision warning system. In Proceedings: IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society (pp. 615-621). [6119381] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2011.6119381