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University of Pisa
.
Automotive Radar
Maria S. Greco
Range estimation
Doppler frequency estimation
CFAR techniques
Direction of arrival (DOA) estimation
Tracking
Observation area
Transmitted signals
Some special waveforms must be used to fulfill the requirements of
simultaneous range and radial velocity measurement:
Pulse Doppler
FMCW with (at least) up- and down-chirp signals
Frequency Shift Keying (FSK) CW
MFSK CW
sR (t ) = sT t ( t )
2 2B
f B ,1 = f D + f = vr sw R
cTCPI
2 2B
f B ,2 = f D f = vr + sw R
cTCPI
With only one up and down chirp , two targets are ambiguous. With
four chirps two targets can be easily resolved
Signal processing
DOA estimation
Most common: Monopulse
with two antennas
60 60
50 50
40 40
|S U|
|S D|
30 30
20 20
10 10
0 0
0 10 20 30 40 50 60 0 10 20 30 40 50 60
f f
-1
-8 -6 -4 -2 0 2 4 6 8
azimuth (degrees)
Ideally, without noise
txk
Object parameters Measurement
Linear
Track estimate
t yk
Sensor Kalman
y k =
Filter vxk
txk
t xk Prediction v yk
t t xk
*
t yk y k = yk *
yk = vxk t yk
vxk
yk = *
v yk vxk
v yk *
v yk
t xk 1 0 T 0 t xk 1
Linear model t yk 0 1 0 T t yk 1 y k = Ay k 1
= 0 0 1 0 vxk 1
vxk
v 0 1 v
0 0
yk yk 1
H. Rohling, Automotive Radar tutorial, 2008
2012 IEEE Radar Conference, May 7-11, Atlanta
Linear Kalman filter
Prediction step:
- Prediction estimation based on Process matrix A:
y *k = Ay k 1
- Track estimation:
y k = y k* + K k ( y k + y k* )
Kalman gain based prediction
- Tracking accuracy estimation: accuracy and measurement noise
Pk = ( I + K k ) P K k = Pk* ( Pk* + R )
1
*
k
Applications:
Vehicular radar (Short range)
Trough-the-wall imaging
Medical radars
narrowband
noise
UWB
1 1
0.9 0.8
0.8 0.6
0.7 0.4
normalized amplitude
normalized amplitude
0.6 0.2
0.5 0
0.4 -0.2
0.3 -0.4
0.2 -0.6
0.1 -0.8
0 -1
-2 -1.5 -1 -0.5 0 0.5 1 1.5 2 -2 -1.5 -1 -0.5 0 0.5 1 1.5 2
time (ns) time (ns)