Measurement and Modeling of Vehicular Millimeter Wave Radar Signal in Expressway Environment

With the gradual development of autonomous driving technology, the cost of traditional road test is becoming higher and higher. The mainstream approach of autonomous driving test has been transferred to the accurate and efficient simulation test system based on typical environment. Millimeter wave (mmWave) radar is an important part of autonomous driving and integrated sensor system. This means that the foundation of the future autonomous driving environment simulation system needs the real mmWave vehicular radar signal propagation mechanism. Therefore, the research of radio wave propagation characteristics in vehicular mmWave radar frequency band is the basis of mmWave radar simulation. In this paper, the vehicular mmWave radar signal in the expressway environment is measured, and ray-tracing (RT) simulation is conducted according to the measurement configuration. The electromagnetic (EM) parameters is calibrated through the Radar Cross section (RCS). The signal propagation characteristics are researched, and a hybrid channel model is established with RT, which effectively increases the simulation efficiency and serves for future autonomous vehicle driving test.