本文为奥地利格拉茨技术大学（作者：Mario Grgic BSc）的电子工程硕士论文，共78页。
先进的驾驶辅助系统在现代车辆中越来越重要，它们用于辅助驾驶员控制车辆行驶，例如在诸如巡航控制之类的应用中，但是最新的发展趋势甚至考虑由驾驶辅助系统完全接管车辆控制。全自动驾驶技术被认为能够有效地避免或消除驾驶中的危险情况。这种驾驶辅助系统的关键是传感器，它们提供关于车辆和周围交通场景的重要信息。为了在车辆前方进行长距离测距并探测车辆/障碍物，雷达技术在过去几年中已经有了很大的发展，雷达传感器已经成为许多现代车辆的标准配置。
开发能够为复杂交通场景提供正确、可靠性能的高级驾驶辅助系统是控制工程师迫切需要解决的问题。仿真是研发和测试该类控制系统的一种强制性工具；仿真工具需要真实的传感器模型，以便为研发的算法生成输入数据。
本文介绍了一种通用雷达传感器模型/模拟器的研制，该模型可应用于任何基于MATLAB/Simulink的驾驶模拟器。给定驾驶场景作为车辆前方的输入数据，该模型通过射线跟踪算法扫描传感器的视场区域。由射线跟踪器计算出场景的视场范围，结合雷达系统参数如天线方向图、发射功率等模拟雷达信号。然后，采用基本雷达信号处理方法提取目标的通用对象信息。本文所开发的雷达模拟器可用于实时驾驶模拟中，也可以用于驾驶辅助系统的开发，或者用于改进雷达信号处理技术。
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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