Uncertainty propagation for vehicle detections in experimentally validated radar model for automotive application

Validation Framework for Generic Radar Sensor Models

“…To conduct a fine-tuning procedure of a GRSM using the validation framework, a novel GRSM introduced in [16] has been incorporated. The model is based on Open Simulation Interface (OSI) data format [18] and consists of two main parts:…”

“…First, a radar-specific noise is injected to range, azimuth and elevation estimates. The noise is a normally distributed random variable with mean equal zero and variance defined by using both radar system specification and the estimated signal-to-noise ratio [16]. Also, to mimic the sparsity of the real data, a statistic test is executed separately for each SC that removes some of the elements from the raw detection list.…”

“…Nevertheless, radar sensor modelling topic can be handled on many abstraction layers. According to [6], three main approaches can be defined based on state-of-the-art research papers: black-box models [7] [8] [9], that are usually based on deep neural networks, physical models explicitly simulating all radar effects and components [10] [11] [12] [13] and generic models that combine deterministic geometrical models with the noise injection in order to derive radar detections [14] [15] [16]. The choice of the approach depends on the application.…”

“…According to the best knowledge of the authors, robust radar sensor model being able to thoroughly reproduce radar measurements in real-time still does not exist, regardless of the virtual scene complexity. However, a novel GRSM introduced in [16] can be treated as a good starting point for further work, based on the results presented by the authors. Nevertheless, before improving a baseline model, there is a requirement to introduce some performance metrics, in order to compare subsequent sensor model versions.…”

“…In order to prove the usefulness of the approach and to show how the full pipeline of a performance assessment can be carried out, the proposed validation framework has been explicitly employed in the fine-tuning process of the GRSM introduced in [16]. The obtained results clearly show that the optimized model outperforms the one with the original settings.…”