For decades, radar has been applied extensively in warfare, earth observation, rain detection, and industrial applications. All those areas are characterized by requirements such as high quality of service, reliability, robustness in harsh environment and short update time for environmental perception, and even imaging tasks. In the vehicle safety and driver assistance field, radars have found widespread application globally in nearly all vehicle brands. With the market introduction of the 2014 Mercedes-Benz S-Class vehicle equipped with six radar sensors covering the vehicles environment 360 • in the near (up to 40 m) and far range (up to 200 m), autonomous driving has become a reality even in low-speed highway scenarios. A large azimuth field of view, multimodality and a high update rate have been the key innovations on the radar side. One major step toward autonomous driving was made in August 2013. A Mercedes-Benz research S-Class vehicle-referred to at Mercedes as Bertha-drove completely autonomously for about 100 km from Mannheim to Pforzheim, Germany. It followed the well-known historic Bertha Benz Memorial Route. This was done on the basis of one stereo vision system, comprising several long and short range radar sensors. These radars have been modified in Doppler resolution and dramatically improved in their perception capabilities. The new algorithms consider that urban scenarios are characterized by significantly shorter reaction and observation times, shorter mean free distances, a 360 • interaction zone, and a large variety of object types to be considered. This paper describes the main challenges that Daimler radar researchers faced and their solutions to make Bertha see.INDEX TERMS Radar, automotive radar, autonomous driving.
Detection of pedestrians in an urban environment is a highly sophisticated task. This paper presents a signal processing technique suitable for frequencymodulated continuous wave (FMCW) radar sensors using chirp sequence modulation, allowing observation of slow-moving objects with high resolution capability in range and velocity. Velocity resolution can be improved through auto-regressive linear prediction (AR-LP) without requiring a long chirp sequence duration. Furthermore, the influence of the frequency deviation used and velocity resolution will be shown in a scenario with two objects. An adaptive velocity resolution improvement will be presented to extract a characteristic micro-Doppler signature (μD-signature) of a slowly moving pedestrian, a car, and an inline-skater. This is verified by measurements at the carrier frequency of 77 GHz.
Abstract. Automotive UWB (Ultra-Wideband) short range radar (SSR) is on the market as a key technology for novel comfort and safety systems. SiGe based 79 GHz UWB SRR will be a definite candidate for the long term substitution of the 24 GHz UWB SRR. This paper will give an overview of the finished BMBF joint project KOKON and the recently started successing project RoCC, which concentrate on the development of this technology and sensor demonstrators. In both projects, the responsibilities of Daimler AG deal with application based sensor specification, test and evaluation of realized sensor demonstrators. Recent UWB SRR frequency regulation approaches and activitites will be introduced. Furthermore, some first results of Daimler activities within RoCC will be presented, dealing with the packaging and operation of these sensors within the complex car environment.
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