Abstract
With the advent of autonomous driving, safety have become the top priority. To adhere vehicle safety standard for autonomous vehicle, the sensors play the primary role in sensing the environment. With high frequency resolution radar, micro motions of the vehicle wheel can be detected. Time-Frequency distribution is used to detect the frequency changes with respect to time. MUSIC is a high resolution direction finding algorithm, which can estimate the direction of arrival of echo signals. Micro Doppler effect provides the vehicle wheel information related to the number of spokes and its spoke size. With this information, it is possible to detect the exact position of the wheels in the vehicle.
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