论文标题
使用单成像雷达对物体的平行瞬时速度和标题估计
Parallelized Instantaneous Velocity and Heading Estimation of Objects using Single Imaging Radar
论文作者
论文摘要
高分辨率成像雷达的发展引入了许多有用的应用，尤其是在汽车领域。随着对主动运输安全和自动驾驶的越来越关注，这些成像雷达将构成自动驾驶发动机的核心。此类高分辨率雷达的最重要任务之一是估计检测到的物体（车辆，行人等）的瞬时速度和标题。可行的估计方法应在实时场景，无偏见和鲁棒性的微型杂物，噪声和其他系统变化的情况下足够快。这项工作提出了一种并行计算方案，该方案可以使用频率调制连续波（FMCW）雷达实现实时，准确的矢量速度确定。针对使用FMCW雷达收集的中心频率为78.6 GHz和4 GHz的带宽，对所提出的方案进行了测试。实验表明，提出的并行算法的性能要比其常规对应物的速度快得多，而没有任何精确损失。
The development of high-resolution imaging radars introduce a plethora of useful applications, particularly in the automotive sector. With increasing attention on active transport safety and autonomous driving, these imaging radars are set to form the core of an autonomous engine. One of the most important tasks of such high-resolution radars is to estimate the instantaneous velocities and heading angles of the detected objects (vehicles, pedestrians, etc.). Feasible estimation methods should be fast enough in real-time scenarios, bias-free and robust against micro-Dopplers, noise and other systemic variations. This work proposes a parallel-computing scheme that achieves a real-time and accurate implementation of vector velocity determination using frequency modulated continuous wave (FMCW) radars. The proposed scheme is tested against traffic data collected using an FMCW radar at a center frequency of 78.6 GHz and a bandwidth of 4 GHz. Experiments show that the parallel algorithm presented performs much faster than its conventional counterparts without any loss in precision.
