Design of Linear Recursive Target State Estimator for Collision Avoidance System

차량 충돌 방지 시스템을 위한 선형 순환 표적 추정기 설계

This paper proposes a new linear recursive target state estimator for automotive collision warning system. The target motion is modeled in Cartesian coordinate system while the radar measurements such as range, line-of-sight angle and range rate are obtained in polar coordinate system. To solve the problem by nonlinear relation between these two coordinate system, a practical linear filter design scheme employing the predicted line-of-sight Cartesian coordinate system (PLCCS) is proposed. Especially, PLCCS can effectively incorporate range rate measurements into target tracking system. It is known that the utilization of range rate measurements enables the improvement of target tracking performance. Moreover, PLCCS based target tracking system is implemented by linear recursive filter structure and hence is more suitable scheme for the development of reliable collision warning system. The performance of the proposed method is demonstrated by computer simulations.