Radar objects detection and imaging for ground-based vehicle collision avoidance: computer simulation results and safety aspects

Abstract

The scope of this paper is to illustrate a new concept of a multi-sensor system for obstacle detection, and collision avoidance by controlling the motion of the vehicle traveling at very high speed regimes, of the order of 250 km/h. The paper illustrates the primary requirement of safety for the vehicle and the passengers and presents the effects of relative motion at such high speeds on radar data quality. A new mathematical model is described for calculating the effects of scintillation on detection range and Doppler velocity. Results indicate large spread around the expected values of range and Doppler depending on propagation and type of fluctuation of the signal. For improved obstacle detection and tracking is concluded that the effects of fluctuations of front radar measurements need to be compensated by measurements from a reference sensor on board, for example a rear sensor.