Radar Tracking With Orthogonal Velocity Measurements for Autonomous Ground Vehicles
Eric Klinefelter, Jeffrey A. Nanzer, Hayder Radha · 2020
In this work we examine the effect of having independent radial and angular velocity radar measurements on 2D tracking performance. With this, we provide design considerations for systems using interferometric angular velocity estimation. We found that on average as the number of clutter detections increases, the reduction in error by adding an additional angular velocity measurement also increases, implying a greater need for orthogonal velocity measurements in high-clutter environments. In particular, in simulation at a clutter rate of 50 detections per measurement, we obtained an error reduction of 14% by adding a radial velocity measurement and a further reduction of 3% from an additional angular velocity measurement. We also tested this method on a publicly available autonomous driving dataset by synthesizing angular velocity measurements and found a similar reduction of 13% and 6% by adding Doppler and angular velocity measurements, respectively.