Radar-Based Mapping of the Environment: Occupancy Grid-Map Versus SAR

For autonomous driving vehicles, highly accurate representations of the environment are essential for both trajectory planning and self-localization. Different possibilities allow to generate detailed maps of the environment based on chirp-sequence radar sensors for advanced driver assistance systems (ADASs). For the first time, this letter shows a qualitative comparison between synthetic aperture radar (SAR)- and occupancy grid map (OGM)-based environment representation using identical measurement data. The differences of existing signal processing chains as well as a visual measurement-based comparison of the resulting environmental maps is presented.