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This paper introduces a novel target height estimation approach\udusing a Frequency Modulation Continuous Wave (FMCW) automotive radar. The\udpresented algorithm takes advantage of radar wave multipath propagation to\udmeasure the height of objects in the vehicle surroundings. A multipath\udpropagation model is presented first, then a target height is formulated\udusing geometry, based on the presented propagation model. It is then shown\udfrom Sensor-Target geometry that height estimation of targets is highly\uddependent on the radar range resolution, target range and target height. The\udhigh resolution algorithm RELAX is discussed and applied to collected raw\uddata to enhance the radar range resolution capability. This enables a more\udaccurate height estimation especially for low targets. Finally, the results\udof a measurement campaign using corner reflectors at different heights are\uddiscussed to show that target heights can be very accurately resolved by the\udproposed algorithm and that for low targets an average mean height estimation\uderror of 0.03 m has been achieved by the proposed height finding algorithm

A Novel Target-Height Estimation Approach Using Radar-Wave Multipath Propagation for Automotive Applications