An Assignment Method for Multiple Extended Target Tracking With Azimuth Ambiguity Based on Pseudo Measurement Set

Autonomous vehicle technology is rapidly becoming the driving force in the automobile industry. As such, the interest in high-resolution radio detection and ranging (radar) for autonomous vehicle applications is increasing due to its affordability and high angular resolution. However, for Advanced Driver Assistance Systems (ADAS), the challenge of azimuth ambiguity caused by a large physical distance between radar antennas is prevalent. This causes false measurements in a direction different from the target’s true angle due to grating lobes. This challenge increases when extended targets are considered. This paper proposes a Pseudo-3D Assignment (P3DA) method based on a Pseudo Measurement Set (PMS) to resolve azimuth ambiguity in multiple extended target tracking. The proposed method can resolve mono (single) and split (duplicated) azimuth ambiguities common in extended target tracking. The proposed solution uses Lagrangian Relaxation based on a Flexible Search (LR-FS) algorithm to solve the P3DA-PMS problem efficiently. The performance of the proposed algorithm in a typical traffic scenario simulated in Unreal Engine 4, with an ego vehicle mounted with both 2D (unambiguous) and 3D (ambiguous) radars, is evaluated. Simulation and experiment results suggest that the proposed P3DA-PMS-based tracking algorithm can perform better than conventional methods.

• Record URL:
  • http://dx.doi.org/10.1109/TITS.2024.3452647
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/oclc/41297384
• Supplemental Notes:
  • Copyright © 2024, IEEE.
• Authors:
  • Chen, Ming
  • Tharmarasa, Ratnasingham
  • Kirubarajan, Thia
  • Chomal, Sunil
• Publication Date: 2024-11

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 15512-15531
• Serial:
  • IEEE Transactions on Intelligent Transportation Systems
  • Volume: 25
  • Issue Number: 11
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
  • ISSN: 1524-9050
  • Serial URL: http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6979

Subject/Index Terms

• TRT Terms: Autonomous vehicles; Azimuth; Driver support systems; Tracking systems
• Subject Areas: Data and Information Technology; Highways; Vehicles and Equipment;

Filing Info

• Accession Number: 01944701
• Record Type: Publication
• Files: TRIS
• Created Date: Jan 31 2025 11:45AM