Radar-Based Mapping of the Environment: Occupancy Grid-Map Versus SAR

Grebner, Timo; Schoeder, Pirmin; Janoudi, Vinzenz; Waldschmidt, Christian

doi:10.1109/lmwc.2022.3145661

Cited by 17 publications

(16 citation statements)

References 12 publications

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“…Grid maps offer the advantage of a cell-based representation of the environment, which allows efficient processing in applications based on them. Grid maps can be generated either based on target lists (T-GM) or on raw data (R-GM) [6]. Target list-based mapping approaches are primarily divided into amplitude grid maps (T-AGM) and probabilistic occupancy grid maps (T-OGM) [7], [8].…”

confidence: 99%

Probabilistic SAR Processing for High-Resolution Mapping Using Millimeter-Wave Radar Sensors

Grebner¹,

Grathwohl²,

Schoeder³

et al. 2023

IEEE Trans. Aerosp. Electron. Syst.

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In the field of autonomous driving, highly accurate representations of the environment are essential for trajectory planning as well as for estimating the vehicle's location. Today, this can be achieved with the help of chirp-sequence radar sensors or radar sensor networks. The possibilities for environmental mapping cover simple point clouds, target list based grid maps and raw data based high resolution synthetic aperture radar (SAR) maps. While for target list based grid maps it has already been shown that a probabilistic occupancy grid map has significant advantages over an amplitude-based grid map in terms of robustness and resolution, no probabilistic approaches to SAR processing exist up to now. This paper presents a fundamental approach of processing radar raw data to generate high-resolution SAR images based on probabilities. A probabilistic SAR processing is presented which combines high resolution environmental mapping with amplitude independent target detection. Based on measurements, a qualitative and quantitative comparison between conventional amplitude and phase-based SAR processing, the presented probabilistic SAR processing, and a probabilistic target list-based occupancy grid map is performed. Since the presented algorithm is not limited to the automotive field and chirp-sequence radar sensors, it can be extended to arbitrary SAR applications and radar architectures.

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confidence: 99%

Probabilistic SAR Processing for High-Resolution Mapping Using Millimeter-Wave Radar Sensors

Grebner¹,

Grathwohl²,

Schoeder³

et al. 2023

IEEE Trans. Aerosp. Electron. Syst.

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“…Both the pedestrian and the street lamp are visible as point targets with large SNR. Despite the sidelobes, the sensor is capable of generating detailed, high-resolution images from single snapshots of the observed scene without the need for multiple measurements and complex post-processing as for synthetic aperture radar or grid maps as shown in [39].…”

Section: Measurement Of An Automotive Scenariomentioning

confidence: 99%

System Performance of a 79 GHz High-Resolution 4D Imaging MIMO Radar With 1728 Virtual Channels

Schwarz¹,

Riese²,

Dorsch³

et al. 2022

IEEE J. Microw.

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Future driver assistance and autonomous driving systems require high-resolution 4D imaging radars that provide detailed and robust information about the vehicle's surroundings, even in poor weather or lighting conditions. In this work, a novel high-resolution radar system with 1728 virtual channels is presented, exceeding the state-of-the-art channel count for automotive radar sensors by a factor of 9. To realize the system, a new mixed feedthrough and distribution network topology is employed for the distribution of the ramp oscillator signal. A multilayer printed circuit board is designed and fabricated with all components assembled on the back side, while the radio frequency signal distribution is on a buried layer and only the antennas are on the front side. The array is optimized to enable both multipleinput multiple-output operation and transmit beamforming. A sparse array with both transmit and receive antennas close to the transceivers is realized to form a 2D array with a large unambiguous region of 130 • × 75 • with a maximal sidelobe level of −15 dB. The array features a 3 dB beamwidth of 0.78 • × 3.6 • in azimuth and elevation, respectively. Radar measurements in an anechoic chamber show that even the individual peaks of the absorber in the chamber can be detected and separated in the range-angle cut of the 4D radar image. The performance is validated by measurements of a parking lot, where cars, a pedestrian, a fence, and a street lamp can be detected, separated, and estimated correctly in size and position.INDEX TERMS Advanced driver assistance systems (ADAS), automotive radar, chirp sequence modulation, direction-of-arrival (DoA) estimation, frequency modulated continuous wave (FMCW), imaging radar, local oscillator (LO) feedthrough, mm-wave, multiple-input multiple-output (MIMO), time delay correction.This article has been accepted for inclusion in a future issue of this journal. Content is final as presented, with the exception of pagination.

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“…Complementary to those, radar images the world through the different eyes of microwaves and mm-waves. Autonomous systems can thus completely map the environment with high precision [129].…”

Section: Tc-23 Wireless Communicationsmentioning

confidence: 99%

The MTT-S Technical Coordinating and Future Directions Committee: Promoting Our Technical Communities-2022

Palazzi¹,

Siegel²,

Caverly³

2022

IEEE Microwave

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Radar-Based Mapping of the Environment: Occupancy Grid-Map Versus SAR

Cited by 17 publications

References 12 publications

Probabilistic SAR Processing for High-Resolution Mapping Using Millimeter-Wave Radar Sensors

Probabilistic SAR Processing for High-Resolution Mapping Using Millimeter-Wave Radar Sensors

System Performance of a 79 GHz High-Resolution 4D Imaging MIMO Radar With 1728 Virtual Channels

The MTT-S Technical Coordinating and Future Directions Committee: Promoting Our Technical Communities-2022

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