Instantaneous Actual Motion Estimation with a Single High-Resolution Radar Sensor
Johannes Schlichenmaier, Leping Yan, Martin Stolz, Christian Waldschmidt · 2018
Future high-resolution radars enable new functionalities in advanced driver assistance systems, relying on fast and reliable extraction of properties of vehicles on the road. A critical property for the prediction of trajectories and the assessment of potentially dangerous situations is that of the actual motion - the velocity vector and yaw rate - of observed objects. In this paper, an approach to distinguish linear from non-linear motions as well as estimating the yaw rate using only a single radar sensor is presented and evaluated via measurements.