Target Tracking Based on Separate Modeling of Trajectory Shape and Dynamic Characteristics

This paper proposes a novel on-road target tracking algorithm based on the separate modeling of target trajectory shape and dynamic characteristics. A description of the target maneuvering behavior in one-dimensional mileage coordinates is given by a mean-adaptive acceleration model. In the absence of prior information about the road, the unknown target trajectory over a sliding window is modeled by third -degree polynomials. The algorithm presented here for on-road maneuvering target tracking based on the separate modeling has been verified through an experiment. Simulation results show that the pro-posed algorithm provides sufficient accuracy compared with existing algorithms with coupled modeling.