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Target Tracking and Classification Algorithm for Adaptive Cruise Control System via Internet Technology

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Abstract

Existing adaptive cruise control systems adopt radars to track their preceding targets. The variation characteristics of the data collected by the radar when the preceding vehicle changes lanes and enters/exits a curve section are similar. As a result, the target identification may cause unsafe conditions on curve roads. For the proper classification of the curve entry/exit and lane change behaviors of the preceding target, speed, yaw rate, and steering angle were used to model road curvature real time. In this estimation algorithm, the slope of the preceding target’s motion trajectory was used to establish a status-identification and motion-tracking model for a straight road. A similar model for a curve road was constructed by using the lateral displacement variation characteristic as a distinction parameter. Field-test data were used to verify both models. Results showed that the classification accuracy rates of the model for the lane change and curve entry of the preceding vehicle when the host vehicle is on a straight road were 91.5 and 89.8%, respectively. When the host vehicle is traveling on a curve road, the classification accuracy rates for the lane change and curve exit of the preceding vehicle were 87.1 and 90.4%, respectively. The proposed algorithm could effectively enhance the safety performance of the active safety system.

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Acknowledgements

The authors acknowledge the collective support granted by Changjiang Scholars and Innovative Research Team in University (IRT_17R95), National Natural Science Foundation of China (61473046, 51775053), and Fundamental Research Funds for the Central Universities (310822172001).

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Authors and Affiliations

  1. School of Automobile, Chang’an University, Xi’an, 710064, China

    Chang Wang, Yali Zhang & Menglu Gu

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  1. Chang Wang
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  2. Yali Zhang
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  3. Menglu Gu
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Correspondence to Chang Wang.

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Wang, C., Zhang, Y. & Gu, M. Target Tracking and Classification Algorithm for Adaptive Cruise Control System via Internet Technology. Wireless Pers Commun 102, 1307–1326 (2018). https://doi.org/10.1007/s11277-017-5196-x

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  • DOI: https://doi.org/10.1007/s11277-017-5196-x

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