Proposal for an Integrated MMW Radar System for Outdoor Navigation

[Notr: This technical report is mostly my unchanged thesis document. excepr for .sectixii mately 200 metres and uses alinear array of receivers and wavefront reconstruction techniques to compute range and bearing of objects within the field of view. Currently. sensor desipn and harclware fabrication have been completed and the sensor is being integrated with other vrhicle by.;tems. Signal processing techniques are discussed and results obtained from simulation and the real sensor are presented. Clutter rejection and the ability to classify and differentiate between objects will be improved in addition by integration of the radar data with information from a road geoinetry perception system. Road geometry perception will he based either on lane marker detection throuph ii video camera or a digital road map. The integrated sensor system can operate as a copilot for a human driver for speed control w i t h respect to traffic density and as a safety monitor for lane changing. In addition i t will be ahle to interact with other modules such as road followers and higher level planners for complete autrinomous driving.