Unscented Kalman filter design for curvilinear motion models suitable for automotive safety applications

Research in automotive safety leads to the conclusion that modern vehicle should utilize active and passive sensors for the recognition of the environment surrounding them. Thus, the development of tracking systems utilizing efficient state estimators is very important. In this case, problems such as moving platform carrying the sensor and maneuvering targets could introduce large errors in the state estimation and in some cases can lead to the divergence of the filter. In order to avoid sub-optimal performance, the unscented Kalman filter is chosen, while a new curvilinear model is applied which takes into account both the turn rate of the detected object and its tangential acceleration, leading to a more accurate modeling of its movement. The performance of the unscented filter using the proposed model in the case of automotive applications is proven to be superior compared to the performance of the extended and linear Kalman filter.