A Dataset for Radar Scattering Characteristics of Vehicles Under Real-World Driving Conditions: Major Findings for Sensor Simulation

Abstract

In virtual validation of automated driving, trustworthy simulation models of perception sensors are required. Radar sensors are particularly hard to model, as their measurements are notoriously difficult to interpret. This is due to their complex measurement principle, involving multi-path propagation of mm-waves, varying backscattering characteristics of objects, and further factors such as limited measurement ranges and resolutions that introduce uncertainty to the measurements. This work presents a method for studying the backscatter characteristics of vehicles under real-world driving conditions. A slalom-like driving scenario, which is representative for road-driving where the vehicle is visible under different aspect angles, has been designed. It aims at a high level of reproducibility of the trajectories driven by the vehicles, hence reducing additional sources of uncertainty that were otherwise present in the measurements. In a large-scale measurement campaign, 13 vehicles have been studied. The vehicles-under-test are observed by multiple radars, mounted at different heights, and carry reference sensors for obtaining their positions. In this paper, we present the measurement campaign and show major findings from our measurement results. Our focus lies on drawing conclusions for trustworthy sensor simulation. Both sensor measurement data, and MATLAB code for data analysis are made publicly available alongside this paper.

Bayesian Gaussian Mixture Models for Enhanced Radar Sensor Modeling: A Data-Driven Approach towards Sensor Simulation for ADAS/AD Development

“…In the case of this work, the data for a BMW 535 were used, whereby one run is used for training and another run for validation. The reader is referred to the associated publication from Elster et al for more details regarding the experimental setup and data [25]. The final dataset consists of a set of measurements, denoted as frames, that contain all the detections of the object.…”

Fingerprints of the Automotive Radar Scattering of Passenger Cars and Vans

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