volume | PIER Journals

Abstract

Reliably modeling vulnerable road users (VRUs) such as motorcyclists in the virtual environment is indispensable in developing over-the-air (OTA) validation test methods. However, there are still challenges arising from many possible variations of VRUs, which may participate in the traffic scenarios. Therefore, it is essential to model them precisely and demonstrate consistency between virtual evaluation and reality. To achieve this goal, the VRUs must be modeled based on their backscattering behavior which can be prepared based on high-resolution (HR) radar cross section (RCS) measurements. This work presents the backscattering behavior of motorcyclists as one of the critical VRUs in traffic scenarios. The extracted model of a motorcyclist is analyzed and compared based on HR-RCS measurements with different motorcycle variants. This evaluation is a prerequisite for developing a realistic model of VRUs and ensuring an adequate level of accuracy.

1. Abadpour, Sevda, Modeling Backscattering Behavior of Vulnerable Road Users Based on High-resolution Radar Measurements, Vol. 103, 158, KIT Scientific Publishing, Nov. 2023.

2. Vargas, Jorge, Suleiman Alsweiss, Onur Toker, Rahul Razdan, and Joshua Santos, "An overview of autonomous vehicles sensors and their vulnerability to weather conditions," Sensors, Vol. 21, No. 16, 5397, Aug. 2021.
doi:10.3390/s21165397

3. Zang, Shizhe, Ming Ding, David Smith, Paul Tyler, Thierry Rakotoarivelo, and Mohamed Ali Kaafar, "The impact of adverse weather conditions on autonomous vehicles: How rain, snow, fog, and hail affect the performance of a self-driving car," IEEE Vehicular Technology Magazine, Vol. 14, No. 2, 103-111, Jun. 2019.
doi:10.1109/MVT.2019.2892497

4. Heinzler, Robin, Philipp Schindler, Jürgen Seekircher, Werner Ritter, and Wilhelm Stork, "Weather influence and classification with automotive lidar sensors," 2019 IEEE Intelligent Vehicles Symposium (IV), 1527-1534, Paris, France, Jun. 2019.

5. Murad, M., I. Bilik, M. Friesen, J. Nickolaou, J. Salinger, K. Geary, and J. S. Colburn, "Requirements for next generation automotive radars," 2013 IEEE Radar Conference (RadarCon13), 1-6, Ottawa, Canada, 2013.

6. Dubey, Anand, Avik Santra, Jonas Fuchs, Maximilian Luebke, Robert Weigel, and Fabian Lurz, "A Bayesian framework for integrated deep metric learning and tracking of vulnerable road users using automotive radars," IEEE Access, Vol. 9, 68758-68777, 2021.
doi:10.1109/ACCESS.2021.3077690

7. Dickmann, Juergen, Nils Appenrodt, Hans-Ludwig Bloecher, C. Brenk, Thomas Hackbarth, Markus Hahn, Jens Klappstein, Marc Muntzinger, and Alfons Sailer, "Radar contribution to highly automated driving," 2014 44th European Microwave Conference, 1715-1718, Rome, Italy, Oct. 2014.

8. Waldschmidt, Christian and Holger Meinel, "Future trends and directions in radar concerning the application for autonomous driving," 2014 11th European Radar Conference, 1719-1722, Rome, Italy, Oct. 2014.

9. Abadpour, Sevda, Mario Pauli, Christian Schyr, Florian Klein, Rene Degen, Jan Siska, Nils Pohl, and Thomas Zwick, "Angular resolved RCS and Doppler analysis of human body parts in motion," IEEE Transactions on Microwave Theory and Techniques, Vol. 71, No. 4, 1761-1771, Apr. 2023.
doi:10.1109/TMTT.2022.3218304

10. Schubert, Eugen, Frank Meinl, Martin Kunert, and Wolfgang Menzel, "High resolution automotive radar measurements of vulnerable road users - Pedestrians & cyclists," 2015 IEEE MTT-S International Conference on Microwaves for Intelligent Mobility (ICMIM), 1-4, Heidelberg, Germany, Apr. 2015.

11. Abadpour, Sevda, Sören Marahrens, Mario Pauli, Jan Siska, Nils Pohl, and Thomas Zwick, "Backscattering behavior of vulnerable road users based on high-resolution RCS measurements," IEEE Transactions on Microwave Theory and Techniques, Vol. 70, No. 3, 1582-1593, Mar. 2022.
doi:10.1109/TMTT.2021.3131156

12. Reyes-Muñoz, Angélica and Juan Guerrero-Ibáñez, "Vulnerable road users and connected autonomous vehicles interaction: A survey," Sensors, Vol. 22, No. 12, 4614, Jun. 2022.
doi:10.3390/s22124614

13. Pohl, Nils, Timo Jaeschke, Simon Küppers, Christian Bredendiek, and Dirk Nüßler, "A compact ultra-wideband mmWave radar sensor at 80 GHz based on a SiGe transceiver chip (Focused session on highly-integrated millimeter-wave radar sensors in SiGe BiCMOS technologies)," 2018 22nd International Microwave and Radar Conference (MIKON), 345-347, Poznan, Poland, May 2018.

14. Richards, M. A., J. A. Scheer, and W. A. Holm, Principles of Modern Radar: Basic Principles, SciTech Publishing, Inc., 2010.

15. Geary, Kevin, Joseph S. Colburn, Arthur Bekaryan, Shuqing Zeng, Bakhtiar Litkouhi, and Mohannad Murad, "Automotive radar target characterization from 22 to 29 GHz and 76 to 81 GHz," 2013 IEEE Radar Conference (RadarCon13), 1-6, Ottawa, ON, Canada, Apr. 2013.

16. Köhler, Mike, Jürgen Hasch, Hans Ludwig Blöcher, and Lorenz-Peter Schmidt, "Feasibility of automotive radar at frequencies beyond 100 GHz," International Journal of Microwave and Wireless Technologies, Vol. 5, No. 1, 49-54, Feb. 2013.
doi:10.1017/S175907871200075X

Dr. Sevda Abadpour

Dr. Mario Pauli

Dr. Jan Siska

Dr. Nils Pohl

Dr. Thomas Zwick