Multipath-robust joint ToF and velocity estimation for automotive ultrasonic sensors using Delay–Doppler processing
Abstract
We propose a robust joint time of flight and velocity estimation framework for ultrasonic sensing in near-range parking environments, where strong multipath often masks the direct path and degrades the reliability of conventional peak-based methods. The proposed approach integrates a direct-path likelihood function that reconstructs the physically valid first-arrival path and a zero-Doppler residual suppression method eliminating static-reflector clutter in the cross-ambiguity function domain. Simulation results confirm that the method significantly improves robustness under multipath-dominant conditions. The framework is highly suitable for practical automotive ultrasonic sensing systems.
Fields of Study & Subjects
Flow Measurement and Analysis
Indoor and Outdoor Localization Technologies
Direction-of-Arrival Estimation Techniques
Publication details
- Journal / source
- ICT Express
- Publisher
- Elsevier BV
- Volume
- 12
- Issue
- 1
- Pages
- 209–213
- Publication date
- 10 January 2026
- Language
- EN