This paper presents the design and development of an intelligent subsystem that includes a novel low-power radar sensor integrated into an autonomous racing perception pipeline to robustly estimate the position and velocity of dynamic obstacles. The proposed system, based on the Infineon BGT60TR13D radar, is evaluated in a real-world scenario with scaled race cars. The paper explores the benefits and limitations of using such a sensor subsystem and draws conclusions based on field-collected data. The results demonstrate a tracking error up to 0.21 +- 0.29 m in distance estimation and 0.39 +- 0.19 m/s in velocity estimation, despite the power consumption in the range of 10s of milliwatts. The presented system provides complementary information to other sensors such as LiDAR and camera, and can be used in a wide range of applications beyond autonomous racing.

翻译：本文介绍了一种智能子系统的设计与开发，该子系统包含一种新型低功耗雷达传感器，集成于自主赛车的感知流水线中，用于稳健估计动态障碍物的位置与速度。所提出的系统基于英飞凌BGT60TR13D雷达，在真实场景中采用缩比赛车进行了评估。本文探讨了使用此类传感器子系统的优势与局限，并根据现场采集数据得出结论。实验结果表明，在功耗范围为数十毫瓦的条件下，距离估计的跟踪误差可达0.21±0.29米，速度估计误差可达0.39±0.19米/秒。所提出的系统可为激光雷达和摄像头等其他传感器提供补充信息，并可用于自主赛车之外的广泛场景。