Towards mapping of dynamic environments with FMCW radar

Author

Clarke, Bryan ; Worrall, Stewart ; Brooker, Graham ; Nebot, Eduardo

Author_Institution

Australian Centre for Field Robot., Univ. of Sydney, Sydney, NSW, Australia

fYear

2013

fDate

23-23 June 2013

Firstpage

140

Lastpage

145

Abstract

Frequency-modulated continuous waveform (FMCW) microwave and millimetre-wave radar is an attractive sensor for intelligent transport systems due to its reliable all-weather performance. This paper discusses issues involved in the design of FMCW radar mapping systems for use in collision avoidance in large vehicles operating in dynamic environments. The performance characteristics of radar are examined before an analysis is made of traditional grid-based and feature-based mapping approaches, both conceptually and in terms of implementation. The probability hypothesis density (PHD) filter is discussed as a potentially superior approach for radar mapping in dynamic environments.

Keywords

CW radar; FM radar; automated highways; collision avoidance; millimetre wave radar; probability; road vehicle radar; FMCW microwave radar; FMCW radar; PHD filter; all-weather performance; collision avoidance; dynamic environment mapping; feature-based mapping approach; frequency-modulated continuous waveform radar; grid-based mapping approach; intelligent transport system; large vehicles; millimetre-wave radar; probability hypothesis density filter; radar mapping; radar performance characteristics; Clutter; Noise; Radar cross-sections; Uncertainty; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles Symposium Workshops (IV Workshops), 2013 IEEE

Conference_Location

Gold Coast, QLD

Print_ISBN

978-1-4799-0794-6

Type

conf

DOI

10.1109/IVWorkshops.2013.6615240

Filename

6615240