Millimeter-Wave Radar Measurement and Ray-Tracing Simulation for Urban Street Environment

Autonomous driving technology greatly contributes to the evolution of intelligent transportation systems (ITSs). As an important sensor, the millimeter-wave (mmWave) radar plays an irreplaceable role in the overall ITSs. In this paper, we use a mmWave automotive radar system to perform measurement in an urban street environment. The radar cross section of key targets is estimated from the measurements, and it is used to calibrate the electromagnetic parameters for the ray-tracing (RT) simulation. The calibrated simulation results are compared with simulation results in distance, angle, and velocity to verify the accuracy and reliability of the RT simulator. The presented method, process, and analysis in this work can be used for the understanding of mmWave radar channel and the design of autonomous driving technology.