Kalman-based tracker for multiple radar targets

Automotive radars are used for driver assistance systems such as Cruise Control, Lane Change Assistant or Vulnerable Road User (VRU) protection. In all these applications the signal processing architecture must consider target detection, data association and tracking for the proper analysis of the realistic traffic situation and for applying the correct safety measures. This paper proposes a data association and tracking algorithm based on the Hungarian association procedure and Kalman filtering. The simulations show that this scheme can be used in multiple target situations.