**Table 8.**

*Various sensors available for automatic parking and their properties.*

*Models and Technologies for Smart, Sustainable and Safe Transportation Systems*

If a hazard occurs far away in front of the vehicle, so that the driver cannot see it, this system will warn him. By the means of communication, it is possible, to transfer this information over long distances. A usable frequency has to be allocated. Local Hazard Warning [14, 15] is a system that uses short-range communication between cars, and between a car and its surroundings, to give drivers early warning of safety hazards. For example, a car equipped with Local Hazard Warning might issue a warning to other vehicles if it had broken down in the middle of a carriageway or had been involved in a collision. Similarly, emergency vehicles equipped with such a system might send a signal to nearby vehicles to warn them of their presence, or temporary roadwork barriers could issue for such warnings. As well as transmitting such warnings, cars equipped with Local Hazard Warning can

also receive these signals and use them to alert the driver to the danger [16].

control. The sensors measure [12] the object with following accuracy:

• Real-time birds eye view showing measurements

• Ability to track multiple objects in real-time

Laser Beam deflection: horizontal Range: 0–80 m Range: 0–35 m @ Rr = 5%

> Horizontalangularfield:+ − 120° Lateral resolution: 0,25° - 1°

• ± 50 0Horizontal

0,5 m/s Accuracy: • ± 0,05 m • ± 0,5 m/s

Dimensions: 90 x 40 x 15 mm

*Various sensors available for automatic parking and their properties.*

• ±

The automatic parking is a function that helps the driver entering into a parking slot in a parallel maneuver by automatically acting on the steering wheel and engine

The vehicle is fitted with a GNSS-aided inertial navigation system (GNSS/INS). In most cases (because of the low speeds involved), a dual-antenna model is fitted to maintain the best headway accuracy at all times. The properties of various sen-

**Sensor Property Comment**

Radar Frequency: 24.125 Ghz Short range

Smallest object: Metal bar 10 mm diam (vertically placed at 1,5 m)

Resolution: 20 mm Accuracy: ± 50 mm Frequency: 10–40 Hz Cycle time: 25–100 ms Vertical opening angle: ~ 3,5°

Distance range: 10 m Velocity range: 60 m/s Field of view:

**6.11 Local hazard warning**

**6.12 Automatic parking**

• Relative accuracy 2 cm

• Heading accuracy 0.1°

sors [12] are presented in **Table 8**.

**232**

**Table 8.**
