Page - 46 - in Integration of Advanced Driver Assistance Systems on Full-Vehicle Level - Parametrization of an Adaptive Cruise Control System Based on Test Drives

4. Measurements xs ys zs CG z0 y0 x0 xv yv zv S flC xcfl ycfl zcfl Figure 4.1.: Coordinate systems for the measurements connected via Wireless Local Area Network (WLAN), see fig. 4.2. As an environmental- recognition sensor, a production Radio Detection and Ranging (RADAR) sensor of type ContinentalARS308 isused. Additionally, thevehicle is equippedwithacamera, which is mounted behind the windscreen. The recorded video data is not directly used in data processing. It should only support in the data processing process to help understand what happened in the recorded situation. The RADAR sensor requires the vehicle velocity vvx and the yaw rate vωz in order to classify the detected objects as standing, stopped, moving or oncoming, as well as for the target selection. Stopped means that the object has moved before it stopped, and standing means that it has never moved during the detection time. The outputs of the RADAR sensor include the kinematic quantities describing the position and relative speed of the objects in the sensor coordinate system, the dimensions and the probability ofexistenceof thedetectedobjects. TheRADARsensorcombinesthedetectedreflection points to objects, but errors may occur during this process. The quantity probability of existence pex describes the likelihood that the detected object actually exists. To measure the relative distance between the ego and target vehicle, both are equipped with an Automotive Dynamic Motion Analyser (ADMA) from Genesys, [Gen13]. It consists of three acceleration sensors, three fibre-optic gyros and a Global Positioning System (GPS) receiver with position correction using the Real-Time Kinematic (RTK) method, [Gen13]. For position correction, the rough position is sent to a service via a Global System for Mobile Communications (GSM) connection. The service has a net of base stations at known coordinates with a distance of about 50km between them and generates a virtual base station near the GPS device. There, virtual measurements are generatedandsenttotheGPSsystemviaGSM.TheGPSdevice is thenable tocalculate its position with an accuracy of a few centimetres using the RTK method, [Kah06]. This is done in both the ego and the target vehicle. The relative position of the target vehicle to the ego vehicle is calculated in the measurement system, which receives the position of the target vehicle via WLAN connection. 46