A Novel Concept for Vehicle 2D Pose Estimation Using Automotive SIMO FMCW Radar Sensors in a Bistatic Vehicle-to-Infrastructure Network

This paper presents an approach for the use of cooperative FMCW radar units for precise vehicle-to-infrastructure localization, orientation determination, and simultaneous estimation of synchronization errors between the involved wireless nodes. Our concept requires only one stationary SIMO radar node, which is integrated into the infrastructure and a conventional automotive radar mounted on the vehicle. To enable real-time operation, an extended Kalman filter tracks the relative position and orientation, as well as the time and frequency offsets of the two radar units. The proposed algorithm is evaluated through various measurements. The results show a precise localization capability, with a 2D position RMSE of less than 1 cm. The achieved synchronization accuracy is in the time range of 100 ps, with femtosecond precision.