A Novel Target-Height Estimation Approach Using Radar-Wave Multipath Propagation for Automotive Applications

Abstract. This paper introduces a novel target height estimation approach using a Frequency Modulation Continuous Wave (FMCW) automotive radar. The presented algorithm takes advantage of radar wave multipath propagation to measure the height of objects in the vehicle surroundings. A multipath propagation model is presented first, then a target height is formulated using geometry, based on the presented propagation model. It is then shown from Sensor-Target geometry that height estimation of targets is highly dependent on the radar range resolution, target range and target height. The high resolution algorithm RELAX is discussed and applied to collected raw data to enhance the radar range resolution capability. This enables a more accurate height estimation especially for low targets. Finally, the results of a measurement campaign using corner reflectors at different heights are discussed to show that target heights can be very accurately resolved by the proposed algorithm and that for low targets an average mean height estimation error of 0.03 m has been achieved by the proposed height finding algorithm.