Model-based scene tracking using radar sensors for intelligent automotive vehicle systems

Several intelligent vehicle applications require knowledge of the presence of objects in the path of the host vehicle. Current approaches to this in-path decision process do not fully utilize the information available from the forward-looking sensor. This paper describes a path algorithm in which the observed trajectories of preceding vehicles are used to determine the shape of the road in front of the host, along with the orientation of the host w.r.t. the road, thereby improving the accuracy of object lane determination