New approaches for testing of autonomous driving functions are using Virtual Reality (VR) to analyze the behavior of automated vehicles in various scenarios. The real time simulation of the environment sensors is stil...New approaches for testing of autonomous driving functions are using Virtual Reality (VR) to analyze the behavior of automated vehicles in various scenarios. The real time simulation of the environment sensors is still a challenge. In this paper, the conception, development and validation of an automotive radar raw data sensor model is shown. For the implementation, the Unreal VR engine developed by Epic Games is used. The model consists of a sending antenna, a propagation and a receiving antenna model. The microwave field propagation is simulated by a raytracing approach. It uses the method of shooting and bouncing rays to cover the field. A diffused scattering model is implemented to simulate the influence of rough structures on the reflection of rays. To parameterize the model, simple reflectors are used. The validation is done by a comparison of the measured radar patterns of pedestrians and cyclists with simulated values. The outcome is that the developed model shows valid results, even if it still has deficits in the context of performance. It shows that the bouncing of diffuse scattered field can only be done once. This produces inadequacies in some scenarios. In summary, the paper shows a high potential for real time simulation of radar sensors by using ray tracing in a virtual reality.展开更多
An accurate and efficient Synthetic Aperture Radar(SAR)raw data generator is of considerable value for testing system parameters and verifying imaging algorithms.Nevertheless,the existing simulator cannot exactly hand...An accurate and efficient Synthetic Aperture Radar(SAR)raw data generator is of considerable value for testing system parameters and verifying imaging algorithms.Nevertheless,the existing simulator cannot exactly handle the case of the fast moving targets in high squint geometry.As for the issue,the analytical expression for the two Dimensional(2-D)signal spectrum of moving targets is derived and a fast raw echo simulation method is proposed in this study.The proposed simulator can accommodate the moving targets in the high squint geometry,whose processing steps of the simulation are given in detail and its computational complexity is analyzed.The simulation data for static and moving targets are processed and analyzed,and the results are given to validate the effectiveness of the proposed approach.展开更多
文摘New approaches for testing of autonomous driving functions are using Virtual Reality (VR) to analyze the behavior of automated vehicles in various scenarios. The real time simulation of the environment sensors is still a challenge. In this paper, the conception, development and validation of an automotive radar raw data sensor model is shown. For the implementation, the Unreal VR engine developed by Epic Games is used. The model consists of a sending antenna, a propagation and a receiving antenna model. The microwave field propagation is simulated by a raytracing approach. It uses the method of shooting and bouncing rays to cover the field. A diffused scattering model is implemented to simulate the influence of rough structures on the reflection of rays. To parameterize the model, simple reflectors are used. The validation is done by a comparison of the measured radar patterns of pedestrians and cyclists with simulated values. The outcome is that the developed model shows valid results, even if it still has deficits in the context of performance. It shows that the bouncing of diffuse scattered field can only be done once. This produces inadequacies in some scenarios. In summary, the paper shows a high potential for real time simulation of radar sensors by using ray tracing in a virtual reality.
文摘An accurate and efficient Synthetic Aperture Radar(SAR)raw data generator is of considerable value for testing system parameters and verifying imaging algorithms.Nevertheless,the existing simulator cannot exactly handle the case of the fast moving targets in high squint geometry.As for the issue,the analytical expression for the two Dimensional(2-D)signal spectrum of moving targets is derived and a fast raw echo simulation method is proposed in this study.The proposed simulator can accommodate the moving targets in the high squint geometry,whose processing steps of the simulation are given in detail and its computational complexity is analyzed.The simulation data for static and moving targets are processed and analyzed,and the results are given to validate the effectiveness of the proposed approach.
