Wheeled Vehicle Detection Under the Asymmetric Micro-Doppler Interference

With the development of automated driving (AD) applications, the micro-Doppler effect induced by the rolling wheels of the vehicles normally disturbs the target detection and the effect is difficult to be eliminated at close range. In this article, by illustrating the micro-Doppler motion of the rolling wheels, the asymmetric Doppler spectrum caused by the micro-Doppler interference is innovatively introduced. A random-finite-set (RFS)-based measurement model is applied to analyze the asymmetry. To eliminate the asymmetric phenomenon, a temporal smoothing method based on the cadence velocity diagram (CVD) is proposed. Simulations based on the RFS model and experiments prove the exhibition of the asymmetric micro-Doppler interference introduced by rolling wheels and the feasibility of the proposed elimination method. Moreover, compared with the state-of-the-art symmetry method, the detection probability improves from 80% to 93% when the false alarm rate is fixed at 10 ⁻⁶ , showing that the proposed method is highly efficient and the false detection caused by the micro-Doppler effect can be eliminated accurately. The results may provide a new way for high-quality wheeled vehicle detection.