Modeling of range sensing and object detection, for vehicle active safety

This paper presents a generic range sensing model and method for object detection in 3D space. Due to the complexity and stochastic nature of the physics involved, modeling the physics of sensor and sensing is often very difficult, if not impossible, in particular under unstructured environments. This paper presents a geometric approach that provides an abstraction on the functions of range sensing and objects detection. This is to enable modeling and simulation of vehicle interactions among one another under traffic and with surrounding environment for research and development, early testing and verification of many active safety, driver-assistance and sensor-guided autonomous driving features and functions.