本文為奧地利格拉茨技術大學（作者：Mario Grgic BSc）的電子工程碩士論文，共78頁。

先進的駕駛輔助系統在現代車輛中越來越重要，它們用於輔助駕駛員控制車輛行駛，例如在諸如巡航控制之類的應用中，但是最新的發展趨勢甚至考慮由駕駛輔助系統完全接管車輛控制。全自動駕駛技術被認為能夠有效地避免或消除駕駛中的危險情況。這種駕駛輔助系統的關鍵是感測器，它們提供關於車輛和周圍交通場景的重要資訊。為了在車輛前方進行長距離測距並探測車輛/障礙物，雷達技術在過去幾年中已經有了很大的發展，雷達感測器已經成為許多現代車輛的標準配置。

開發能夠為複雜交通場景提供正確、可靠效能的高階駕駛輔助系統是控制工程師迫切需要解決的問題。模擬是研發和測試該類控制系統的一種強制性工具；模擬工具需要真實的感測器模型，以便為研發的演算法生成輸入資料。

本文介紹了一種通用雷達感測器模型/模擬器的研製，該模型可應用於任何基於MATLAB/Simulink的駕駛模擬器。給定駕駛場景作為車輛前方的輸入資料，該模型通過射線跟蹤演算法掃描感測器的視場區域。由射線跟蹤器計算出場景的視場範圍，結合雷達系統引數如天線方向圖、發射功率等模擬雷達訊號。然後，採用基本雷達訊號處理方法提取目標的通用物件資訊。本文所開發的雷達模擬器可用於實時駕駛模擬中，也可以用於駕駛輔助系統的開發，或者用於改進雷達訊號處理技術。

Advanced driving assistance systems aregaining more and more importance in modern vehicles. They are used to assistthe driver, e.g. in applications like cruise control, but recent developmenttrends even consider, the take over of the vehicle control by the drivingassistance system. Such techniques are considered to efficiently avoid orcounteract on dangerous situations. Key enabler for such driving assistance systemsare sensors, which provide information about the vehicle and the surroundingtraffic scenario. For long distance ranging and detection of vehicles/obstaclesin front of the own vehicle, radar technology has seen strong developments overthe past years and radar sensors have become a standard sensors for many modernvehicles. The development of high level driving assistance systems, which areable to provide correct and reliable performance for complex traffic scenarios,is a demanding problem for control engineers. Simulation is a mandatory toolfor the development and testing of this control systems. Subsequently, thissimulation tools require realistic sensor models, in order to generate inputdata for the algorithms to be developed. This thesis presents the developmentof a generic radar sensor model/simulator. The simulator can be applied in anyMatlab/Simulink based driving simulator. Given the driving scenario as inputdata in front of the vehicle, the model scans the field of view of the sensor, bymeans of an ray tracing algorithm. Given the sight of the scene computed by theray tracer, the radar signal is computed by incorporating radar systemsspecifics, e.g. the antenna pattern, transmitted power, etc. Basic radar signalprocessing methods then extract generic object information to be used for thefollowing processing unit. The developed radar simulator can be used in realtime driving simulators for the development of driving assistance systems, butalso for the development of improved radar signal processing techniques.

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