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Observable dynamics and coordinate systems forautomotive target trackingRichard AltendorferDriver Assistance SystemsTRW AutomotiveEmail: We investigate several coordinate systems and dy-namical vector fields for target tracking to be used in driverassistance systems . We show how to express the discrete dynamicsof maneuvering target vehicles in arbitrary coordinates startingfrom the target s and the own (ego) vehicle s assumed dynamicalmodel in global coordinates . We clarify the notion of egocompensation and show how non-inertial effects are to beincluded when using a body-fixed coordinate system for targettracking. We finally compare the tracking error of differentcombinations of target tracking coordinates and dynamical vectorfields for simulated INTRODUCTIONDriver assistance systems (DAS) such as adaptive cruisecontrol (ACC) or lane departure warning (LDW) need toperceive the environment using exteroceptive sensors (e.)

Observable dynamics and coordinate systems for automotive target tracking Richard Altendorfer Driver Assistance Systems TRW Automotive Email: richard.altendorfer@trw.com

  System, Dynamics, Coordinates, Automotive, Targets, Observable, Observable dynamics and coordinate systems, Observable dynamics and coordinate systems for automotive target

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