Instantaneous full-motion estimation of arbitrary objects using dual Doppler radar

Based on high-resolution radars a new approach for determining the full 2D-motion state (yaw rate, longitudinal and lateral speed) of an extended rigid object in a single measurement is proposed. The system does not rely on any model assumptions and is independent of the exact position, expansion and orientation of the object. In comparison to related methods it is not based on temporal filtering, e.g. a Kalman Filter. These methods are subject to an initialization phase and depend heavily on compliance of the underlying dynamic model. In contrast to temporal filtering, the proposed approach reduces the time to react to critical situations that occur in many safety and advanced driving assistance applications. This paper analyzes the velocity profile (radial velocity over azimuth angles) of the object received by two Doppler radar sensors. The approach can handle white noise and systematic variations (e.g. micro-Doppler of wheels) in the signal. The proposed system is applied to predict the driving path of traffic participants. Measurement results are presented for a set-up with two 77 GHz automotive radar sensors.