Integrating radar and carrier phase GPS for classifying roadway obstacles

This paper describes an integrated MMW radar and GPS/road-map 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 carrier phase GPS/road-map system to accurately detect and classify obstacles in the environment with respect to the driving lane of the vehicle.