Research on Pedestrian and Cyclist Classification Method Based on Micro-Doppler Effect

Abstract

In the field of autonomous driving, it is important to protect vulnerable road users (VRUs) and ensure the safety of autonomous driving effectively by improving the detection accuracy of VRUs in the driver’s field of vision. However, due to the strong temporal similarity between pedestrians and cyclists, the insensitivity of the traditional least squares method to their differences results in its suboptimal classification performance. In response to this issue, this paper proposes an algorithm for classifying pedestrian and cyclist targets based on the micro-Doppler effect. Firstly, distinct from conventional time-frequency fusion methods, a preprocessing module was developed to solely perform frequency-domain fitting on radar echo data of pedestrians and cyclists in forward motion, with the purpose of generating fitting coefficients for the classification task. Herein, wavelet threshold processing, short-time Fourier transform, and periodogram methods are employed to process radar echo data. Then, for the heightened sensitivity to inter-class differences, a fractional polynomial is introduced into the extraction of micro-Doppler characteristics of VRU targets to enhance extraction precision. Subsequently, the support vector machine technique is embedded for precise feature classification. Finally, subjective comparisons, objective explanations, and ablation experiments demonstrate the superior performance of our algorithm in the field of VRU target classification.

Keywords

• micro-doppler
• fractional polynomial
• least squares method
• time-frequency analysis
• SVM