Estimating Polynomial Structures from Radar Data, Report no. LiTH-ISY-R-2955

Situation awareness for vehicular safety and autonomy functions includes knowledge of the drivable area. This area is normally constrained between stationary road-side objects as guard-rails, curbs, ditches and vegetation. We consider these as extended objects modeled by polynomials along the road, and propose an algorithm to track each polynomial based on noisy range and bearing detections, typically from a radar. A straightforward Kalman lter formulation of the problem su ers from the errors-in-variables (EIV) problem in that the noise enters the system model. We propose an EIV modi cation of the Kalman lter and demonstrates its usefulness using radar data from public roads.