I. Introduction
Radar sensors are robust and stable against almost all environmental influences in typical road traffic scenarios, and hence have become one of the most commonly implemented sensors for perception in the Advanced Driver Assistance System (ADAS) application. Another important advantage of radar is the unique ability to detect the speed of moving objects instantaneously. For instance, in the Autonomous Emergency Braking (AEB) system, radar sensors can detect targets moving in front of the car, e.g., pedestrian and cyclist. By acquiring the precise velocity information, their current and future locations around the vehicle can be estimated. If necessary, a trigger for an emergency maneuver to avoid an imminent collision can be initiated.