Road Object Height Estimation Using Multipath Effect in Automotive Radar Measurements

The paper describes an improvement in road object height (elevation angle) estimation using automotive radar sensor with 2D phased antenna array. The two proposed methods combine estimated direct and multipath elevation angles both for car pitch angle remove from the measurements and thus more robust object height estimation. The accuracy of height measurements based on proposed method is estimated. The proposed methods were tested both on a test field and with road datasets.