Cramér-Rao Bound Analysis of Radars for Extended Vehicular Targets With Known and Unknown Shape
Journal article, 2022

Due to their shorter operating range and large bandwidth, automotive radars can resolve many reflections from their targets of interest, mainly vehicles. This calls for the use of extended-target models in place of simpler and more widely-adopted point-like target models. However, despite some preliminary work, the fundamental connection between the radar’s accuracy as a function of the target vehicle state (range, orientation, shape) and radar properties remains largely unknown for extended targets. In this work, we first devise a mathematically tractable analytical model for a vehicle with arbitrary shape, modeled as an extended target parameterized by the center position, the orientation (heading) and the perimeter contour. We show that the derived expressions of the backscatter signal are tractable and correctly capture the effects of the extended-vehicle shape. Analytical derivations of the exact and approximate hybrid Cramér-Rao bounds for the position, orientation and contour are provided, which reveal connections with the case of point-like target and uncover the main dependencies with the received energy, bandwidth, and array size. The theoretical investigation is performed on the two different cases of known and unknown vehicle shape. Insightful simulation results are finally presented to validate the theoretical findings, including an analysis of the diversity effect of multiple radars sensing the extended target.

Shape

Spaceborne radar

Bandwidth

Analytical models

Radar tracking

radar

extended target

Automotive

Cramér-Rao bound (CRB)

Automotive engineering

Radar

Author

Nil Garcia

Chalmers, Electrical Engineering, Communication, Antennas and Optical Networks

Alessio Fascista

University of Salento

Angelo Coluccia

University of Salento

Henk Wymeersch

Chalmers, Electrical Engineering, Communication, Antennas and Optical Networks

Canan Aydogdu

Chalmers, Electrical Engineering, Communication, Antennas and Optical Networks

Rico Mendrzik

Ibeo Automotive Systems

G. Seco-Granados

Universitat Autonoma de Barcelona (UAB)

IEEE Transactions on Signal Processing

1053-587X (ISSN) 1941-0476 (eISSN)

Vol. 70 3280-3295

Subject Categories

Robotics

Control Engineering

DOI

10.1109/TSP.2022.3183853

More information

Latest update

5/26/2023