• Journal of the Korean Institute of Intelligent Systems
• /
• v.18 no.6
• /
• pp.863-870
• /
• 2008

In this paper, a new filtering scheme for vehicle tracking with distorted measurement is presented. This filtering scheme is essential for the implementation of the adaptive cruise control (ACC) system. The proposed method combines the IMM and the probabilistic fuzzy model and is named as the Fuzzy IMM (FIMM). The IMM is employed to recognize the intention of the preceding vehicle. The probabilistic furry model is introduced to compensate the distortion of the range sensor. Finally, a computer simulation is performed to illustrate the validity of the suggested algorithms.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.25 no.2
• /
• pp.186-190
• /
• 2015

Intelligent vehicle plans motion and navigate itself based on the surrounding environment perception. Hence, the precise environment recognition is an essential part of self-driving vehicle. There exist many vulnerable road users (e.g. vehicle, pedestrians) on vehicular driving environment, the vehicle must percept all the dynamic obstacles accurately for safety. In this paper, we propose an multiple vehicle tracking algorithm using microwave radar. Our proposed system includes various special features. First, exceptional radar measurement model for vehicle, concentrated on the corner, is described by mixture density network (MDN), and applied to particle filter weighting. Also, to conquer the curse of dimensionality of particle filter and estimate the time-varying number of multi-target states, reversible jump markov chain monte carlo (RJMCMC) is used to sampling step of the proposed algorithm. The robustness of the proposed algorithm is demonstrated through several computer simulations.

• The Journal of the Institute of Internet, Broadcasting and Communication
• /
• v.24 no.5
• /
• pp.189-193
• /
• 2024

According to the Korean Road Traffic Act, continuous driving in the overtaking lane (1 lane) of the highway is judged as a violation of the designated lane. Currently, in order to crack down on the advanced situation on the highway, a citizen's report or the road police directly determine whether it is a violation and crack down. This is because a violation is judged by overtaking or not the speed of the vehicle on the highway, and it is difficult to judge whether the vehicle is continuously driving because the standard is ambiguous in CCTV. Therefore, a system that self-determines and regulates whether the first lane is continuously driving without human intervention is needed. In this paper, in order to enable multiple object tracking during object tracking and to ensure the system's real-time feasibility, an unmanned crackdown system was designed based on F-SORT (Focused-Simple Online and Realtime Tracking) based on the Simple Online and Realtime Tracking (SORT) model, and the system determines whether or not the vehicle is continuously driving in one lane by determining the moving distance of the vehicle

• Journal of Advanced Navigation Technology
• /
• v.28 no.5
• /
• pp.640-649
• /
• 2024

In this study, we introduce an interactive multi-model-probabilistic data association filter (IMM-PDAF), a multi-target tracking algorithm that integrates multiple dynamic models for accurate real-time maritime target tracking. Multi-target tracking in the maritime environment requires high accuracy due to the complex dynamic environment and various movement patterns. The existing CV-PDAF (constant velocity model) and CT-PDAF (circling model) each assume a constant movement pattern, but it is difficult to handle all the complex movements occurring in various maritime environments with these single models. To solve this problem, this study proposes an interactive multi-model-probabilistic data association filter (IMM-PDAF), and the results of this paper applied to maritime RADAR data show that the proposed IMM-PDAF has relatively lower RMSE values than CV-PDAF and CT-PDAF, and has strong positioning performance even in complex dynamic environments. Therefore, this study results highlight the potential of the proposed IMM-PDAF to improve the reliability and efficiency of maritime surveillance systems and provide a multi-target tracking solution for complex tracking environments.

• Journal of Korea Society of Digital Industry and Information Management
• /
• v.12 no.2
• /
• pp.15-24
• /
• 2016

GPS(Global Positioning System) location tracking is a method for taking the precise coordinates after the coordinates are obtained by a GPS receiver, and displaying them on the map. In this paper with WAVE(Wireless Access for Vehicular Environment) simulation, we show that various services such as vehicle tracking service, real-time road conditions service and logistics can go tracking service, control and operation services according to the vehicle position and the traveling direction by using the GPS position data. A vehicle tracking system using GPS is automatically able to manage multiple RCP when exchanging data between RMA and the RCP, and it provides rapid requests and responses. To verify that multiple sessions between RMA and RM, as well as multiple sessions between RMA and RCP are able to be implemented, we take RMA as a RCP application on an OBU, until the RMA is receiving data response from corresponding RM. As a result of this experiment, we show that the response speeds of single session between RMA and RM using 1, 2, 3, and 4 kbyte unit data are similar, 62.32ms, 62.65ms, 63.02ms, and 63.48ms, respectively. Likewise, those of 128 muliple sessions using 1, 2, 3, and 4 kbyte unit data are not much more time difference, 298.08ms, 302.21ms, 322.85ms, and 329.62ms, respectively.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.9 no.3
• /
• pp.232-237
• /
• 2009

Active safety vehicle devices are getting more attention recently. To prevent traffic accidents, the environment in front and even around the vehicle must be checked and monitored. In the present applications, mainly camera and radar based systems are used as sensing devices. Laser scanner, one of the sensing devices, has the advantage of obtaining accurate measurement of the distance and the geometric information about the objects in the field of view of the laser scanner. However, there is a problem that detecting object occluded by a foreground one is difficult. In this paper, criterions are proposed to manage this problem. Simulation is conducted by vehicle mounted the laser scanner and multiple-hypothesis algorithm tracks the candidate objects. We compare the running times as multi-hypothesis algorithm parameter varies.

• International Journal of Contents
• /
• v.7 no.4
• /
• pp.19-23
• /
• 2011

This paper proposes a segmentation method for overlapped vehicles based on analysis of the vehicle location and the spatiotemporal association information. This method can be used in an intelligent transport system. In the proposed method, occlusion is detected by analyzing the association information based on a vehicle's location in continuous images, and occlusion segmentation is carried out by using the vehicle information prior to occlusion. In addition, the size variations of the vehicle to which association tracking is applied can be anticipated by learning the variations according to the overlapped vehicles' movements. To assess the performance of the suggested method, image data collected from CCTVs recording traffic information is used, and average success rate of occlusion segmentation is 96.9%.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.21 no.4
• /
• pp.33-42
• /
• 2013

This paper describes a multiple vehicle tracking algorithm using an integrated probabilistic data association filter (IPDAF) in urban environments. The algorithm consists of two parts; a pre-processing stage and an IPDA tracker. In the pre-processing stage, measurements are generated by a feature extraction method that manipulates raw data into predefined geometric features of vehicles as lines and boxes. After that, the measurements are divided into two different objects, dynamic and static objects, by using information of ego-vehicle motion. The IPDA tracker estimates not only states of tracks but also existence probability recursively. The existence probability greatly assists reliable initiation and termination of track in cluttered environment. The algorithm was validated by using experimental data which is collected in urban environment by using single laser scanner.

• Bulletin of the Korean Space Science Society
• /
• 2004.10b
• /
• pp.247-250
• /
• 2004

Tracking systems for launch vehicle consist mainly of radar transponder (beacon), RF switch or power divider, antennas as onboard system, and single or multiple radars as ground one. In this paper, tracking systems, which are applicable to KSLV (Korea Space Launch Vehicle)-l, are introduced and the electrical performances for developed prototypes are presented. We have also performed RF link analysis for both uplink and downlink, and estimated that the maximum distance to be able to track KSLV-l stably is dependent on uplink characteristic in our system.

• Journal of IKEEE
• /
• v.13 no.2
• /
• pp.232-240
• /
• 2009

This paper presents a robust vehicle detection and tracking algorithm for supervision of illegal parking. The proposed algorithm is composed of four parts. First, a vehicle detection algorithm is proposed using the improved codebook object detection algorithm to segment moving vehicles from the input sequence. Second, a preprocessing technique using the geometric characteristics of vehicles is employed to exclude non-vehicle objects. Then, the detected vehicles are tracked by an object tracker which incorporates histogram tracking method with Kalman filter. To make the tracking results more accurate, histogram tracking results are used as measurement data for Kalman filter. Finally, Real Stop Counter (RSC) is introduced for trustworthy and accurate performance of the stopped vehicle detection. Experimental results show that the proposed algorithm can track multiple vehicles simultaneously and detect stopped vehicles successfully in the complicated street environment.