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

23-26 June 2013

Firstpage

147

Lastpage

152

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; filtering theory; millimetre wave radar; probability; radar signal processing; FMCW radar mapping system design; PHD filter; all-weather performance reliability; collision avoidance; dynamic environment mapping; feature-based mapping; frequency-modulated continuous waveform radar; grid-based mapping; intelligent transport systems; microwave radar; millimetre wave radar; performance characteristics; probability hypothesis density filter; Clutter; Noise; Radar cross-sections; Uncertainty; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles Symposium (IV), 2013 IEEE

Conference_Location

Gold Coast, QLD

ISSN

1931-0587

Print_ISBN

978-1-4673-2754-1

Type

conf

DOI

10.1109/IVS.2013.6629462

Filename

6629462