Abstract
This work provides a practical overview of a novel target height finding method using radar wave Doppler Beam Sharpening (DBS). The primary application of target height estimation in this paper is to determine the traversability of static objects using a Frequency Modulation Continuous Wave (FMCW) automotive radar to automate valet parking. First, the DBS algorithm principle is described and a target height equation is formulated for a generalized sensor mounting position and orientation, based on sensor-target geometry and vehicle dynamics. Simulation results are presented to emphasize the influence of the model parameters on the estimated target elevation accuracy such as the impact of ego vehicle speed and sensor measurement errors in terms of range, azimuth angle and Doppler uncertainties. The processing pipeline of the presented algorithm is provided and the three dimensional (3D) high resolution recursive Fourier algorithm RELAX is briefly discussed and applied to real world data to enhance the range, Doppler, and azimuth angle resolution and accuracy. Finally height measurement results for extended objects of different heights and materials are shown and discussed. The results show that the DBS is a powerful and hardware-efficient method capable of retrieving target heights with high accuracy, without requiring multiple vertical antennas.
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