Phase noise (PN) is one of the most significant impairments adversely affecting the detection performance of frequency-modulated continuous wave (FMCW) radar systems. Due to the rapid advance of advanced driver assistance systems (ADAS), virtual testing and the evaluation of highlyautomated driving (HAD) functions became indispensable. In this work, the impact of PN on the performance of automotive radar sensors is demonstrated on HAD functions in a virtual driving simulator. Therefore, a PN model initially developed for static objects is applied to dynamic scenarios including moving objects. By implementing a real world scenario in the virtual environment the influence of PN on the detection performance of the radar sensor is demonstrated. The virtual test scenario is implemented using the CarMaker test driving software, which is commonly accepted as an accurate and reliable tool by the automotive industry. The radar sensor model including PN is implemented as a functional mock-up unit (FMU) using the standardized functional mock-up interface (FMI) 2.0 and the open simulation interface (OSI) 3.0.0. Finally, the radar FMU model simulations are compared with hardware measurements.
In this paper, we derive intermediate frequency (IF) level analytical formulation of radio frequency (RF) group delay for automotive frequency-modulated continuous-wave (FMCW) radar waveform under quasi-static approximation. To the best of our knowledge, this paper is the first to develop and simulate an IF-level analytical form ulation of RF group delay, including random and deterministic variation for the FMCW radar waveform. Theoretical limitation for the tolerable RF group delay can be derived based on the proposed model. We demonstrated the impact of RF group delay on the FMCW radar sensor's range spectrum in dynamic virtual traffic scenarios. The proposed model is integrated into a virtual FMCW radar sensor model implemented as a functional mock-up unit (FMU) using the standardized interfaces functional mock-up interface (FMI) 2 .0 and the open simulation interface (OSI) 3. 0. 0. A virtual test scenario is implemented in an industry-standard simulation tool, CarMaker, to demonstrate the effect.
The goal of the presented work is to develop an automotive radar sensor behavioral model to outline closed loop interaction of driver and vehicle in a synthetic environment. For this interaction open simulation interface (OSI) and functional mock-up interface (FMI) standards are used. This paper describes the architecture overview, working concept of FMI, OSI and different radar functions like radar channel and digital signal processing (DSP) in detail. The description of the scenario for the verification of radar behavioral model results and development of highly automated driving (HAD) functions for the closed loop simulation is elaborated in this paper.