Abstract
Abstract. This paper introduces a novel target height estimation approach using a Frequency Modulation Continuous Wave (FMCW) automotive radar. The presented algorithm takes advantage of radar wave multipath propagation to measure the height of objects in the vehicle surroundings. A multipath propagation model is presented first, then a target height is formulated using geometry, based on the presented propagation model. It is then shown from Sensor-Target geometry that height estimation of targets is highly dependent on the radar range resolution, target range and target height. The high resolution algorithm RELAX is discussed and applied to collected raw data to enhance the radar range resolution capability. This enables a more accurate height estimation especially for low targets. Finally, the results of a measurement campaign using corner reflectors at different heights are discussed to show that target heights can be very accurately resolved by the proposed algorithm and that for low targets an average mean height estimation error of 0.03 m has been achieved by the proposed height finding algorithm.
Highlights
On the road to autonomous driving, it has become clear that height information of objects in the car’s surroundings is of major importance for collision avoidance systems
Besides the importance of height information for collision avoidance systems, knowing the target height of reflecting objects in the surrounding environment is very beneficial for self localization
The multipath propagation model of radar waves (Fig. 2) is described, a height approximation of a detected target is formulated based on geometry
Summary
On the road to autonomous driving, it has become clear that height information of objects in the car’s surroundings is of major importance for collision avoidance systems. Many approaches in different fields have been proposed to estimate target heights in multipath environments. Increasing the number of antennas in turn means more expensive and complex hardware Both approaches depend on the radar range resolution when estimating the height of targets that are close to each other, or in the case where the target is an extended object. In this work a height finding algorithm is presented, the algorithm uses radar wave multipath propagation to provide an accurate height estimation of detected targets using a single fixed radar antenna. 3 the multipath target height estimation using FMCW Radar is discussed and the usefulness of the high resolution algorithm RELAX for the accuracy improvement of the proposed height finding algorithm is shown.
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