Radar Target Tracking Prediction Extrapolation
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Solution Overview
Problem
Radar apparatuses often incorrectly track targets that have moved out of their detection range due to misalignment between the radar's direction and the host vehicle's movement, leading to errors in target detection and tracking.
Innovation Solution
A microcomputer-based radar system that predicts the position of previously detected targets and uses extrapolation to determine if the target is still within the detection range, deeming targets near the border between the detection range and outside as outside the range to prevent incorrect tracking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the radar apparatus uses conventional frequency modulation to prevent peak frequency pairing errors, then pairing accuracy is improved, but wrong tracking of targets moving out of detection range still occurs
Solution Approach 1:
The system performs preliminary actions by calculating the prediction position of targets in advance using past detection results before the actual detection occurs. This allows the system to proactively determine whether a target has moved out of the detection range and prevent wrong tracking before it happens, rather than merely correcting pairing errors after detection.
Solution Approach 2:
The system uses feedback by continuously comparing the prediction position (calculated from past detections) with the actual detection results. When a target is not detected at its predicted position, the system feedbacks this information to determine that the target has moved out of range, thereby preventing wrong tracking. This closed-loop feedback mechanism enhances tracking reliability beyond what conventional frequency modulation alone can achieve.
2Area of stationary object
If the radar apparatus detects targets near the border between detection and non-detection ranges, then detection coverage is improved, but wrong tracking occurs due to difficulty in detecting borderline targets
Solution Approach 1:
For targets near the detection range border, the system calculates their prediction position in advance using past detection data. This preliminary calculation allows the system to anticipate where the target should be detected next, and if the target is not found at this predicted location, the system correctly determines the target has moved out of range, preventing wrong tracking while maintaining comprehensive detection coverage.
Solution Approach 2:
The system implements feedback by comparing the actual detection results with the prediction position for borderline targets. When a target near the detection boundary is not detected at its predicted position, the feedback mechanism triggers a determination that the target has moved out of range, thereby preventing wrong tracking. This feedback loop ensures high tracking accuracy for targets at the detection range border without sacrificing detection coverage.
Data Source
AI summary
A radar apparatus detects objects in a vicinity of a host vehicle on which the radar apparatus is mounted. The radar apparatus includes a microcomputer configured to operate as a prediction processor that calculates a prediction position of a previously detected target in a current detection cycle and an extrapolation processor that executes an extrapolation to determine that a same target as the previously detected target exists in the prediction position for the current detection cycle. The extrapolation processor executes the extrapolation when the prediction position is outside a detection range of the radar apparatus and a speed of the host vehicle is lower than a predetermined value.