Finite Impulse Response Filter-Based Track Formation for Preceding Vehicle Tracking Using Automotive Radars

Automotive radars, which are used for preceding vehicle tracking, have attracted significant attention in recent years. However, the false measurements that occur in cluttered roadways hinders the tracking process in vehicles; thus, it is essential to develop automotive radar systems that are robust against false measurements. This study proposed a novel track formation algorithm to initialize the preceding vehicle tracking in automotive radar systems. The proposed algorithm is based on finite impulse response filtering, and exhibited significantly higher accuracy in highly cluttered environments than a conventional track formation algorithm. The excellent performance of the proposed algorithm was demonstrated using extensive simulations under real conditions.