Method for tracking e.g. potential obstruction, for driver assistance system of radar system for motor car, involves performing Kalman filtering based on distance and velocity of object by using movement model and auxiliary variable

摘要

The method involves measuring a distance and velocity of an object in a measuring cycle by detecting waves that are reflected from the object, by using a radar detector (105) i.e. ultrasonic sensor, of a radar system (101), where the waves are emitted toward the object by a radar emitter (103) i.e. ultrasound emitter. The distance and a predicted speed of the object are calculated in another measuring cycle. Kalman filtering is performed based on the former distance and velocity by using a movement model in spherical sensor coordinates, and an auxiliary variable. Independent claims are also included for the following: (1) a detection system comprising a radar sensor (2) a computer program for object tracking.