Method for tracking surrounding vehicles through shape model-based LIDAR/RADAR information fusion

摘要

Disclosed is a method for tracking a surrounding vehicle through fusion of lidar/radar information based on a shape model. The fusion tracking device according to the technical idea of the present disclosure receives the state of the own vehicle and the measurement values of radar and lidar as inputs, performs an algorithm that outputs the center position and speed of the surrounding vehicle, and manages it as one track By doing so, efficient estimation of one object is possible, and optimality can be guaranteed through information fusion using various filters (eg, centralized Kalman filter).