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

Towards Robust Velocity and Position Estimation of Opponents for Autonomous Racing Using Low-Power Radar