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Towards Safe Autonomous Driving: Challenges of Pedestrian Detection in Rain with Automotive Radar

机译：安全自治驾驶：与汽车雷达雨中行人检测的挑战

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摘要

Environment perception under all weather conditions becomes more important on the next steps towards safe autonomous driving. In this paper, the impact of rain on short-range radar is investigated with regard to pedestrian detection. The characteristics of backscatter generated by rain droplets and pedestrians are analyzed and compared. Thereby, the challenge of measuring pedestrians in rain by short-range radar is discussed. Particularly, the micro-Doppler effect is examined, which is a major feature of the pedestrian radar signature. Based on the theoretical consideration of rain clutter, a procedure for reducing the impact of rain is presented. The resulting micro- Doppler spectrum shows a significant improvement in the performance compared to conventional signal processing techniques.
机译：在所有天气条件下的环境感知在安全自主驾驶的下一步方面变得更加重要。本文研究了行人检测，研究了雨水对短程雷达的影响。通过雨液滴和行人产生的反向散射特性进行分析并进行比较。因此，讨论了通过短程雷达测量雨水中行人的挑战。特别是，检查微多普勒效应，这是行人雷达签名的主要特征。基于雨杂波的理论考虑，提出了减少雨水冲击的过程。与传统的信号处理技术相比，所得到的微多普勒光谱显示出性能的显着改善。

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