2307 全方位ミリ波レーダを用いた交差点における移動物体検知手法の提案

抄録

In recent year, the study of the automatic vehicle is popular. My laboratory started a public road experiment in first Suzu-shi, Ishikawa at the university in Japan in February, 2015.We suggest the detective technique of the moving object in the urban intersection for automatic driving using the Omni-directional millimeter wave radar in this study. Therefore I attach a millimeter wave radar to an experiment vehicle and try the detection of the moving object on a crossroad and the opposite lane. I use IMM (Interacting Multiple Model) unifying the estimated state of the Karman filter using the different model. In addition, I use GNN (Global Nearest Neighbor) as solving method of assignment problem. When I use Omni-directional millimeter wave radars, the number of observation becomes enormous. The real time processing becomes difficult due to this reason. Therefore I perform the detective experiment of the moving object on a crossroad and the opposite lane each. As a result, I succeeded in detecting the moving object of the distant place quickly. I want to work on speedup of the processing and reduction of the false detection in future.