Automotive radar target tracking by Kalman filtering

Automotive radars have been introduced successfully into the consumer market with sensors in the 24- and 77-GHz domain [1]. In order to increase traffic safety, an application for detecting and tracking Vulnerable Road Users (VRU) and vehicles in front of the car is currently under development. By using a single 24-GHz radar sensor, target parameters like range, radial velocity and azimuth angle are measured even in multiple target scenarios. This paper describes the current implementation progress of a signal processing scheme for target tracking by Kalman filtering and presents tracking results using real measurement data. The work is developed under the FP7 EC funded project ARTRAC [2].