Fusing radar and vision for detecting, classifying and avoiding roadway obstacles

This paper describes an integrated MMW radar and vision sensor system for autonomous on-road navigation. The radar sensor has a range of approximately 200 metres and uses a linear array of receivers and wavefront reconstruction techniques to compute range and bearing of objects within the field of view. It is integrated with a vision based lane keeping system to accurately detect and classify obstacles with respect to the danger they pose to the vehicle and to execute required avoidance maneuvres