9.1 Challenges in Automotive Domain9.1.1 The Automotive Domain Surrounding Sensing9.1.2 Performance Limitations of Today's Automotive SRRs9.1.3 Challenges with Vehicle Integration9.1.4 SRR Packaging Challenges9.1.5 Automotive 77 Ghz vs. 24 Ghz Radar Bands9.1.6 Cost and Long Term Reliability9.1.7 Regulatory Issues9.1.8 Blockage9.2 Elements of Automotive Radar9.2.1 Antenna9.2.2 Analog Front End9.2.3 Radar Processor9.3 Waveforms for Automotive Radar9.3.1 Doppler Shift9.3.2 Linear Frequency Modulation9.3.3 Frequency Shift Keying9.3.4 Hybrid Waveform of FSK and LFM9.3.5 Pulse Compression LFM Waveform9.4 Range and Range Rate Estimation9.4.1 Target Detection9.4.2 Matched Filter and Ambiguity Function9.4.3 Estimation Accuracy9.5 Direction Finding9.5.1 Linear Array Antenna9.5.2 Digital Beamforming9.5.3 Monopulse9.5.4 Simultaneous Processing for Range, Doppler, and Angle9.6 Fusion of Multiple Sensors9.6.1 Automotive Sensor Technology9.6.1.1 Ultrasonic9.6.1.2 Lidar9.6.1.3 Camera9.6.2 Fusion Algorithm9.6.2.1 Architecture Aspect9.6.2.2 Error Model of the Sensor9.6.2.3 Data Association9.6.2.4 Optimization9.6.2.5 Dynamic Models9.6.2.6 Algorithm Summary9.6.3 Online Automatic Registration9.7 Case Studies of ADAS Fusion System9.7.1 Adaptive Cruise Control9.7.2 Forward Collision Warning and Braking9.8 Radars and the Urban Grand Challenge9.9 SummaryBibliographyFigure 9.1Figure 9.2Figure 9.3Figure 9.4Figure 9.5Figure 9.6Figure 9.7Figure 9.8Figure 9.9Figure 9.10Figure 9.11Figure 9.12Figure 9.13Figure 9.14Figure 9.15Figure 9.16Figure 9.17Figure 9.18Figure 9.19Figure 9.20Figure 9.21Figure 9.22Figure 9.23Figure 9.24Figure 9.25Figure 9.26Figure 9.27Figure 9.28Figure 9.29Figure 9.30Figure 9.31Figure 9.32Figure 9.33Figure 9.34Figure 9.35Figure 9.36Figure 9.37Figure 9.38Figure 9.39Figure 9.40Figure 9.41Figure 9.42Figure 9.43Figure 9.44Figure 9.45Figure 9.46Table 9.1Table 9.2Table 9.3Table 9.4