
The main approach to realising better velocity estimation is to extend the overall measurement time. To meet the increasing number of requirements of new applications, the general capability to determining the velocity of other road users has increased steadily. Directly determining the exact velocity characteristics of other road users is an important part of current research activities and it enables new applications, such as pedestrian recognition and enhanced object classification. Compared with cameras or lidar sensors, the main advantage of radar is its robustness under harsh environmental conditions and the unique feature of direct and accurate speed measurement. The usage of different applications, such as safety braking functions and autonomous driving systems, have led to the prevalence of radars in automotive industries. Today, most new cars are equipped with radar-based sensors. In combination with the already introduced signal behaviour, these results enabled general description of the signal-to-noise ratio of nonlinear movements in complex traffic scenarios. Furthermore, by applying established automotive signal processing steps in the form of an ordered statistical constant false alarm rate (OS CFAR), the consequences of determining the noise level are also shown.

The theoretical and experimental results in idealised point targets are transferred to real complex road users. An advanced signal model of frequency-modulated continuous wave (FMCW) radar is introduced and verified in addition to a detailed mathematical description of spectral signal behaviour in sinusoidal motions and linear acceleration. This paper presents a study of various types of nonlinear motion and a detailed definition of the resulting parameters based on a variety of vehicle-based measurements. This additional contribution to the intermediate signal has a direct effect on the signal-to-noise ratio and thus on the accuracy and probability of target detection. These nonlinearities contribute to intermediate frequencies, which are comparable to the extensively described nonlinearities of a frequency ramp. These unavoidable motions, in which the relative velocity changes within one measurement cycle, are called nonlinear movements. In particular, from the point of view of radar, different types of movements, such as any kind of acceleration, braking situation, or vehicle vibration, are essential parts of any traffic scenario.

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