Kalman Tracking in Driver Assistance Systems - Collision Warning for Vulnerable Road Users

For driver assistance systems, range and velocity measurement using radar is of high importance. Usually, such assistance systems are applied to cars. However, vulnerable road users such as pedelecs also offer the opportunity to increase safety by using assistance systems based on radars, cameras etc. In this paper, Kalman filtering for object tracking using radar is reviewed briefly. Then, a metric for measuring the hazardousness of crossing traffic is given. For this, a radar mounted on a pedelec is simulated. A measured pedelec trajectory is used to demonstrate effects arising from driving on a wiggly line. That is, the radar suffers from an angular motion, which is different compared to standard automotive applications.