کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
4976862 1451837 2018 17 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Kalman filter-based tracking of moving objects using linear ultrasonic sensor array for road vehicles
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر پردازش سیگنال
پیش نمایش صفحه اول مقاله
Kalman filter-based tracking of moving objects using linear ultrasonic sensor array for road vehicles
چکیده انگلیسی


- Detection scope of ultrasonic sensors can be modeled as two quadratic curves.
- Measurement error models with respect to object shapes and surface materials are identified.
- Two algorithms based on EKF and UKF individually are proposed.
- The algorithms are verified to be effective in object tracking via both simulation and field tests.

Detection and tracking of objects in the side-near-field has attracted much attention for the development of advanced driver assistance systems. This paper presents a cost-effective approach to track moving objects around vehicles using linearly arrayed ultrasonic sensors. To understand the detection characteristics of a single sensor, an empirical detection model was developed considering the shapes and surface materials of various detected objects. Eight sensors were arrayed linearly to expand the detection range for further application in traffic environment recognition. Two types of tracking algorithms, including an Extended Kalman filter (EKF) and an Unscented Kalman filter (UKF), for the sensor array were designed for dynamic object tracking. The ultrasonic sensor array was designed to have two types of fire sequences: mutual firing or serial firing. The effectiveness of the designed algorithms were verified in two typical driving scenarios: passing intersections with traffic sign poles or street lights, and overtaking another vehicle. Experimental results showed that both EKF and UKF had more precise tracking position and smaller RMSE (root mean square error) than a traditional triangular positioning method. The effectiveness also encourages the application of cost-effective ultrasonic sensors in the near-field environment perception in autonomous driving systems.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanical Systems and Signal Processing - Volume 98, 1 January 2018, Pages 173-189
نویسندگان
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