Uncertainty propagation for vehicle detections in experimentally validated radar model for automotive application

The paper is devoted to the development and experimental validation of a radar model elaborated for an automotive application. The described numerical model takes into account the physical properties of a typical automotive radar, the environmental conditions as well as the properties of targeted objects. Moreover, a dedicated, very efficient algorithm of geometric transformations - implemented in the radar model for simulation of wave scattering phenomena - is presented. A phenomenological model of uncertainty is enclosed to the algorithm to represent more effectively radar detections. The solution presented by the authors is thus ready to be used in hardware-in-the-loop simulations of various road traffic scenarios.