A Novel Concept for Vehicle 2D Pose Estimation Using Automotive SIMO FMCW Radar Sensors in a Bistatic Vehicle-to-Infrastructure Network

This paper presents an approach for the use of cooperative FMCW radar units for precise vehicle-to-infrastructure localization, orientation determination, and simultaneous estimation of synchronization errors between the involved wireless nodes. Our concept requires only one stationary SIMO radar no...

Full description

Saved in:
Bibliographic Details
Main Authors: Fenske, Patrick, Bruckner, Stefan, Kogel, Tobias, Vossiek, Martin
Format: Conference Proceeding
Language:English
Subjects:
cooperative radar
extended Kalman filter
localization
Location awareness
Radar
Radar detection
Radar tracking
Real-time systems
Sensors
synchronization
Vehicle-to-infrastructure
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper presents an approach for the use of cooperative FMCW radar units for precise vehicle-to-infrastructure localization, orientation determination, and simultaneous estimation of synchronization errors between the involved wireless nodes. Our concept requires only one stationary SIMO radar node, which is integrated into the infrastructure and a conventional automotive radar mounted on the vehicle. To enable real-time operation, an extended Kalman filter tracks the relative position and orientation, as well as the time and frequency offsets of the two radar units. The proposed algorithm is evaluated through various measurements. The results show a precise localization capability, with a 2D position RMSE of less than 1 cm. The achieved synchronization accuracy is in the time range of 100 ps, with femtosecond precision.
ISSN:2375-5318
DOI:10.1109/RadarConf2458775.2024.10548072