Pub Date : 2018-04-15DOI: 10.1109/ICMIM.2018.8443546
B. Mamandipoor, T. Teisberg, Siavash Kananian, A. Arbabian
In this paper, we consider a type of MIMO-SAR architecture in which the elements are arranged along the axis of platform motion. We show that this architecture can be used to improve the robustness and accuracy of angular estimation compared to single-element SAR given array location uncertainty. We compare three different architectures for side-looking radars (SAR, SIMO, and SIMO-SAR) and show that in the presence of array location uncertainty, SIMO-SAR proves more resilient. Measurement results using a commercial automotive radar module have been performed to verify this effect.
{"title":"Array Location Uncertainty in Imaging Radar: SAR vs. MIMO-SAR","authors":"B. Mamandipoor, T. Teisberg, Siavash Kananian, A. Arbabian","doi":"10.1109/ICMIM.2018.8443546","DOIUrl":"https://doi.org/10.1109/ICMIM.2018.8443546","url":null,"abstract":"In this paper, we consider a type of MIMO-SAR architecture in which the elements are arranged along the axis of platform motion. We show that this architecture can be used to improve the robustness and accuracy of angular estimation compared to single-element SAR given array location uncertainty. We compare three different architectures for side-looking radars (SAR, SIMO, and SIMO-SAR) and show that in the presence of array location uncertainty, SIMO-SAR proves more resilient. Measurement results using a commercial automotive radar module have been performed to verify this effect.","PeriodicalId":342532,"journal":{"name":"2018 IEEE MTT-S International Conference on Microwaves for Intelligent Mobility (ICMIM)","volume":"7 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113932149","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-15DOI: 10.1109/ICMIM.2018.8443514
J. Lynch, K. Kona, R. Nagele, G. Virbila, R. Bowen, Michael D. Wetzel
High resolution radar imaging is highly desired for autonomous vehicle systems but the complexity and cost have been prohibitively expensive. Coded Aperture Radar (CAR) is a technique that simplifies the RF hardware, utilizing single-bit phase shifters to obtain angular information, and enables digital beamforming with only a single transceiver. This paper describes the development and measured results of a CAR sensor developed for 77 GHz operation that utilizes 128 array elements to digitally synthesize directional beams. The authors quantify the sensor performance in cluttered environments.
{"title":"128 Element Coded Aperture Radar at 77 GHz","authors":"J. Lynch, K. Kona, R. Nagele, G. Virbila, R. Bowen, Michael D. Wetzel","doi":"10.1109/ICMIM.2018.8443514","DOIUrl":"https://doi.org/10.1109/ICMIM.2018.8443514","url":null,"abstract":"High resolution radar imaging is highly desired for autonomous vehicle systems but the complexity and cost have been prohibitively expensive. Coded Aperture Radar (CAR) is a technique that simplifies the RF hardware, utilizing single-bit phase shifters to obtain angular information, and enables digital beamforming with only a single transceiver. This paper describes the development and measured results of a CAR sensor developed for 77 GHz operation that utilizes 128 array elements to digitally synthesize directional beams. The authors quantify the sensor performance in cluttered environments.","PeriodicalId":342532,"journal":{"name":"2018 IEEE MTT-S International Conference on Microwaves for Intelligent Mobility (ICMIM)","volume":"203 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122435367","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-15DOI: 10.1109/ICMIM.2018.8443357
Martin Stolz, Mingkang Li, Zhaofei Feng, M. Kunert, W. Menzel
Prediction of the object movement from sensor data in the automotive sector is a widespread research and development topic. Dependent on the used sensor types, object tracking has been established over several measurement cycles. A prominent example of this is the Kalman filter. In time critical scenarios with less reaction time tracking over a number of measurement cycles is not suitable. To detect object movement within one single measurement cycle only the radar sensor is a candidate, due to the ability to measure the velocity of objects instantaneously by using the Doppler effect.A new approach to estimate the direction of movement of cyclists within one measurement cycle is introduced and explained in this paper. It is based on the approximation of the shape from a cyclist. The approximation is performed with two different methods and the solutions are compared with each other. To validate the results of the direction estimation, simulated and measured radar data are exercised.
{"title":"Direction of Movement Estimation of Cyclists with a High-Resolution Automotive Radar","authors":"Martin Stolz, Mingkang Li, Zhaofei Feng, M. Kunert, W. Menzel","doi":"10.1109/ICMIM.2018.8443357","DOIUrl":"https://doi.org/10.1109/ICMIM.2018.8443357","url":null,"abstract":"Prediction of the object movement from sensor data in the automotive sector is a widespread research and development topic. Dependent on the used sensor types, object tracking has been established over several measurement cycles. A prominent example of this is the Kalman filter. In time critical scenarios with less reaction time tracking over a number of measurement cycles is not suitable. To detect object movement within one single measurement cycle only the radar sensor is a candidate, due to the ability to measure the velocity of objects instantaneously by using the Doppler effect.A new approach to estimate the direction of movement of cyclists within one measurement cycle is introduced and explained in this paper. It is based on the approximation of the shape from a cyclist. The approximation is performed with two different methods and the solutions are compared with each other. To validate the results of the direction estimation, simulated and measured radar data are exercised.","PeriodicalId":342532,"journal":{"name":"2018 IEEE MTT-S International Conference on Microwaves for Intelligent Mobility (ICMIM)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131481616","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-15DOI: 10.1109/ICMIM.2018.8443545
Jasmeet Singh, Kazi Shafiqul Alam, R. Stephan, M. Hein
The number of antennas in cars is increasing by the day. The interaction of an automotive antenna with the car chassis presents a prominent design challenge. While patch antennas are resilient to the underlying chassis metal, they suffer from poor impedance matching bandwidth for a low-profile design. Dipole antennas provide higher bandwidths, but the radiation performance degrades significantly if the dipole is mounted less than a quarter-wavelength apart from the car chassis metal. This paper shows through consistent simulation and measurement results the significant benefits of using a dipole over a high impedance surface (HIS) when low-profile antenna designs for confined mounting locations close to the chassis metal are required. It was observed that the HIS-dipole delivered 35% total efficiency for a mounting location that was only 3 mm apart from the chassis metal. At the same time, a well-defined resonance with a sufficient bandwidth and a positive peak realized gain (2.6 dBi) for the LTE-2600 frequency band (2500…2700 MHz) were obtained. These results indicate a stable and reliable performance of plastic embedded HIS-dipoles in a car, and open new avenues for novel close-to-chassis automotive antenna integration locations.
{"title":"Metal Chassis Tolerant Conformal High Impedance Surface Based LTE-2600 Automotive Antenna","authors":"Jasmeet Singh, Kazi Shafiqul Alam, R. Stephan, M. Hein","doi":"10.1109/ICMIM.2018.8443545","DOIUrl":"https://doi.org/10.1109/ICMIM.2018.8443545","url":null,"abstract":"The number of antennas in cars is increasing by the day. The interaction of an automotive antenna with the car chassis presents a prominent design challenge. While patch antennas are resilient to the underlying chassis metal, they suffer from poor impedance matching bandwidth for a low-profile design. Dipole antennas provide higher bandwidths, but the radiation performance degrades significantly if the dipole is mounted less than a quarter-wavelength apart from the car chassis metal. This paper shows through consistent simulation and measurement results the significant benefits of using a dipole over a high impedance surface (HIS) when low-profile antenna designs for confined mounting locations close to the chassis metal are required. It was observed that the HIS-dipole delivered 35% total efficiency for a mounting location that was only 3 mm apart from the chassis metal. At the same time, a well-defined resonance with a sufficient bandwidth and a positive peak realized gain (2.6 dBi) for the LTE-2600 frequency band (2500…2700 MHz) were obtained. These results indicate a stable and reliable performance of plastic embedded HIS-dipoles in a car, and open new avenues for novel close-to-chassis automotive antenna integration locations.","PeriodicalId":342532,"journal":{"name":"2018 IEEE MTT-S International Conference on Microwaves for Intelligent Mobility (ICMIM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122401542","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-15DOI: 10.1109/ICMIM.2018.8443515
T. Dallmann, Jens-Kristian Mende, S. Wald
Future autonomous automobiles will require extremely reliable radar sensors to guarantee the safety of road users. This requires test environments to verify that automotive radars work properly even in complex traffic situations. Radar target simulators can generate virtual scattering centers in front of the radar sensor and are therefore a promising verification technique. However, currently available systems only offer a very basic approach to manipulating scattering centers. With the workflow presented in this publication it becomes possible to decompose high-level descriptions of traffic scenarios into parameters required for radar target simulation. The workflow can therefore be used to generate realistic traffic scenarios and thus increases the reliability of automotive radar sensor tests.
{"title":"ATRIUM: A Radar Target Simulator for Complex Traffic Scenarios","authors":"T. Dallmann, Jens-Kristian Mende, S. Wald","doi":"10.1109/ICMIM.2018.8443515","DOIUrl":"https://doi.org/10.1109/ICMIM.2018.8443515","url":null,"abstract":"Future autonomous automobiles will require extremely reliable radar sensors to guarantee the safety of road users. This requires test environments to verify that automotive radars work properly even in complex traffic situations. Radar target simulators can generate virtual scattering centers in front of the radar sensor and are therefore a promising verification technique. However, currently available systems only offer a very basic approach to manipulating scattering centers. With the workflow presented in this publication it becomes possible to decompose high-level descriptions of traffic scenarios into parameters required for radar target simulation. The workflow can therefore be used to generate realistic traffic scenarios and thus increases the reliability of automotive radar sensor tests.","PeriodicalId":342532,"journal":{"name":"2018 IEEE MTT-S International Conference on Microwaves for Intelligent Mobility (ICMIM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131957243","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-15DOI: 10.1109/ICMIM.2018.8443490
S. B. J. Gowdu, M. E. Asghar, R. Stephan, M. Hein, J. Nagel, F. Baumgärtner
Automotive radar at 77 GHz is a key technology for the implementation of autonomous driving. The sensors and the systems associated with it are traditionally tested using real test drives that span several millions of kilometres. However, these test drives do not provide a reliable, reproducible nor controlled environment. Moreover, the costs and time effort associated with them is tremendous. Hence, novel test systems are required where experiments can be performed in an accurate, reliable, reproducible, and controllable way, by emulating a representative and realistic virtual test environment. The objective of this paper is to present an architecture and approach to augment real field tests. We use a hardware-in-the-loop approach that emulates a virtual radar environment corresponding to the scenarios defined for test and validation, and simulates the response behaviour of the interconnected automotive subsystems. The whole system will be installed within the Virtual Road Simulation and Test Area at the Technische Universität Ilmenau. The solution comprises a holistic evaluation system where the radar-under-test is installed in the car, stimulated in a virtual electromagnetic environment, and its performance is evaluated in real time. The approach is to divide the system design problem into blocks of independent subsystems and their components. We analyse the critical parameters of each one of them, in order to arrive at a coherent system concept through interconnection of these sub-systems. We also discuss some of the initial aspects of our implementation.
{"title":"System architecture for installed-performance testing of automotive radars over-the-air","authors":"S. B. J. Gowdu, M. E. Asghar, R. Stephan, M. Hein, J. Nagel, F. Baumgärtner","doi":"10.1109/ICMIM.2018.8443490","DOIUrl":"https://doi.org/10.1109/ICMIM.2018.8443490","url":null,"abstract":"Automotive radar at 77 GHz is a key technology for the implementation of autonomous driving. The sensors and the systems associated with it are traditionally tested using real test drives that span several millions of kilometres. However, these test drives do not provide a reliable, reproducible nor controlled environment. Moreover, the costs and time effort associated with them is tremendous. Hence, novel test systems are required where experiments can be performed in an accurate, reliable, reproducible, and controllable way, by emulating a representative and realistic virtual test environment. The objective of this paper is to present an architecture and approach to augment real field tests. We use a hardware-in-the-loop approach that emulates a virtual radar environment corresponding to the scenarios defined for test and validation, and simulates the response behaviour of the interconnected automotive subsystems. The whole system will be installed within the Virtual Road Simulation and Test Area at the Technische Universität Ilmenau. The solution comprises a holistic evaluation system where the radar-under-test is installed in the car, stimulated in a virtual electromagnetic environment, and its performance is evaluated in real time. The approach is to divide the system design problem into blocks of independent subsystems and their components. We analyse the critical parameters of each one of them, in order to arrive at a coherent system concept through interconnection of these sub-systems. We also discuss some of the initial aspects of our implementation.","PeriodicalId":342532,"journal":{"name":"2018 IEEE MTT-S International Conference on Microwaves for Intelligent Mobility (ICMIM)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131753325","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-15DOI: 10.1109/ICMIM.2018.8443499
Willi Hofmann, C. Bornkessel, M. Hein
As the number of radio systems in modern vehicles increases, electromagnetic interference between them becomes an issue. The investigation and testing of new wireless devices regarding the immunity against radio disturbances and the emission of unwanted signals is essential to reach high reliability in later applications. Usually, these tests are performed in fully or semi anechoic chambers to achieve defined, undisturbed wave propagation mimicking free-space conditions. The degree of achieving these nearly ideal conditions can strongly influence the measurement results. As a consequence, international standards provide procedures to validate test facilities. This paper discusses the influence of an electrically large antenna measurement arch on the norm compliance of the Virtual Road Simulation and Test Area (VISTA) of the Thuringian Center of Innovation in Mobility at the Technische Universität Ilmenau, with focus on the frequencies of modern wireless communication systems. Time domain information of received test signals is used to identify reflections and their sources in the chamber. This approach provides access to the site voltage standing wave ratio (sVSWR) demanded by standards and presents a novel generalized technique for reliable site qualification in consideration of installed structures.
随着现代车辆中无线电系统数量的增加，它们之间的电磁干扰成为一个问题。研究和测试新的无线设备对无线电干扰和发射不需要的信号的抗扰性对于在以后的应用中达到高可靠性至关重要。通常，这些测试在全消声室或半消声室中进行，以模拟自由空间条件，实现定义的、不受干扰的波传播。达到这些近乎理想的条件的程度会强烈地影响测量结果。因此，国际标准提供了验证测试设备的程序。本文讨论了电气大型天线测量拱对位于Technische Universität Ilmenau的图林根移动创新中心虚拟道路仿真与试验区(VISTA)规范符合性的影响，重点讨论了现代无线通信系统的频率。使用接收到的测试信号的时域信息来识别腔室中的反射及其源。该方法提供了标准要求的现场电压驻波比(sVSWR)，为考虑已安装结构的可靠现场鉴定提供了一种新的通用技术。
{"title":"Influence of Electrically Large Structures on the EMC-Compliance of a Semi-Anechoic Chamber","authors":"Willi Hofmann, C. Bornkessel, M. Hein","doi":"10.1109/ICMIM.2018.8443499","DOIUrl":"https://doi.org/10.1109/ICMIM.2018.8443499","url":null,"abstract":"As the number of radio systems in modern vehicles increases, electromagnetic interference between them becomes an issue. The investigation and testing of new wireless devices regarding the immunity against radio disturbances and the emission of unwanted signals is essential to reach high reliability in later applications. Usually, these tests are performed in fully or semi anechoic chambers to achieve defined, undisturbed wave propagation mimicking free-space conditions. The degree of achieving these nearly ideal conditions can strongly influence the measurement results. As a consequence, international standards provide procedures to validate test facilities. This paper discusses the influence of an electrically large antenna measurement arch on the norm compliance of the Virtual Road Simulation and Test Area (VISTA) of the Thuringian Center of Innovation in Mobility at the Technische Universität Ilmenau, with focus on the frequencies of modern wireless communication systems. Time domain information of received test signals is used to identify reflections and their sources in the chamber. This approach provides access to the site voltage standing wave ratio (sVSWR) demanded by standards and presents a novel generalized technique for reliable site qualification in consideration of installed structures.","PeriodicalId":342532,"journal":{"name":"2018 IEEE MTT-S International Conference on Microwaves for Intelligent Mobility (ICMIM)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115328840","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-15DOI: 10.1109/ICMIM.2018.8443507
Yuliang Sun, T. Fei, F. Schliep, N. Pohl
This paper deals with gesture recognition using a 77 GHz FMCW radar system based on the micro-Doppler (μ D) signatures. In addition to the Doppler information, the range information is also available in the FMCW radar. Therefore, it is utilized to filter out the irrelevant targets. We have proposed five micro-Doppler based handcrafted features for gesture recognition. Finally, a simple k-nearest neighbor (k-NN) classifier is applied to evaluate the importance of the five features. The classification results demonstrate that the proposed features can guarantee a promising recognition accuracy.
{"title":"Gesture Classification with Handcrafted Micro-Doppler Features using a FMCW Radar","authors":"Yuliang Sun, T. Fei, F. Schliep, N. Pohl","doi":"10.1109/ICMIM.2018.8443507","DOIUrl":"https://doi.org/10.1109/ICMIM.2018.8443507","url":null,"abstract":"This paper deals with gesture recognition using a 77 GHz FMCW radar system based on the micro-Doppler (μ D) signatures. In addition to the Doppler information, the range information is also available in the FMCW radar. Therefore, it is utilized to filter out the irrelevant targets. We have proposed five micro-Doppler based handcrafted features for gesture recognition. Finally, a simple k-nearest neighbor (k-NN) classifier is applied to evaluate the importance of the five features. The classification results demonstrate that the proposed features can guarantee a promising recognition accuracy.","PeriodicalId":342532,"journal":{"name":"2018 IEEE MTT-S International Conference on Microwaves for Intelligent Mobility (ICMIM)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121249091","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-15DOI: 10.1109/ICMIM.2018.8443533
Benjamin Nuss, Jonathan Mayer, T. Zwick
This paper highlights the parameterization limitations of MIMO OFDM radar especially in multi-user scenarios. First the parameter dependencies are depicted and the resulting limitations are derived. Based on this it is demonstrated how the basic scheme can be modified to generate orthogonal channels, either for multiple transmitters of the same system or for different users to operate in an almost interference free state. The focus is on automotive applications for highly automated driving (HAD) that require both, high range and velocity resolution as well as fail save operation in scenarios with multiple users. Additionally, the limitations of Compressed Sensing in combination with OFDM radar to overcome some of the previous limitations are analyzed. Analytical studies as well as simulations have been done to depict the mentioned limitations.
{"title":"Limitations of MIMO and Multi-User Access for OFDM Radar in Automotive Applications","authors":"Benjamin Nuss, Jonathan Mayer, T. Zwick","doi":"10.1109/ICMIM.2018.8443533","DOIUrl":"https://doi.org/10.1109/ICMIM.2018.8443533","url":null,"abstract":"This paper highlights the parameterization limitations of MIMO OFDM radar especially in multi-user scenarios. First the parameter dependencies are depicted and the resulting limitations are derived. Based on this it is demonstrated how the basic scheme can be modified to generate orthogonal channels, either for multiple transmitters of the same system or for different users to operate in an almost interference free state. The focus is on automotive applications for highly automated driving (HAD) that require both, high range and velocity resolution as well as fail save operation in scenarios with multiple users. Additionally, the limitations of Compressed Sensing in combination with OFDM radar to overcome some of the previous limitations are analyzed. Analytical studies as well as simulations have been done to depict the mentioned limitations.","PeriodicalId":342532,"journal":{"name":"2018 IEEE MTT-S International Conference on Microwaves for Intelligent Mobility (ICMIM)","volume":"186 6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124931003","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-15DOI: 10.1109/ICMIM.2018.8443484
Robert Prophet, H. Stark, Marcel Hoffmann, C. Sturm, M. Vossiek
Environment models are necessary for autonomous driving. The distinction between drivable and non-drivable underground is elementary. This paper presents adaptions for radar based occupancy gridmaps, which are a common representation of the environment. In contrast to standard occupancy gridmaps or in general standard inverse radar sensor models, our approach works with velocity dependent parameters and extends free space calculations. Consequently, the map quality varies less and the information content of the ego vehicle's immediate vicinity is higher. Experiments with ground truth data show that the proposed algorithm produces accurate environment models in urban scenes.
{"title":"Adaptions for Automotive Radar Based Occupancy Gridmaps","authors":"Robert Prophet, H. Stark, Marcel Hoffmann, C. Sturm, M. Vossiek","doi":"10.1109/ICMIM.2018.8443484","DOIUrl":"https://doi.org/10.1109/ICMIM.2018.8443484","url":null,"abstract":"Environment models are necessary for autonomous driving. The distinction between drivable and non-drivable underground is elementary. This paper presents adaptions for radar based occupancy gridmaps, which are a common representation of the environment. In contrast to standard occupancy gridmaps or in general standard inverse radar sensor models, our approach works with velocity dependent parameters and extends free space calculations. Consequently, the map quality varies less and the information content of the ego vehicle's immediate vicinity is higher. Experiments with ground truth data show that the proposed algorithm produces accurate environment models in urban scenes.","PeriodicalId":342532,"journal":{"name":"2018 IEEE MTT-S International Conference on Microwaves for Intelligent Mobility (ICMIM)","volume":"233 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134191499","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：