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Obstacle detection virtual radar sensor for vehicle ADAS testing

[Category : - OTHER]
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A method of detecting obstacle vehicles present in a virtual driving environment by using a virtual radar sensor for an ADAS test of a vehicle is disclosed. The disclosed obstacle detection method may include: establishing an obstacle vehicle candidate group from at least one obstacle vehicles each represented by four points in a virtual driving environment, where the obstacle vehicle candidate group includes obstacle vehicles that are wholly or partially included in a sensing range of the virtual radar sensor; updating the obstacle vehicle candidate group by excluding an obstacle vehicle that is located in a shadow region from the obstacle vehicle candidate group; and calculating the shortest distance between an obstacle vehicle included in the updated obstacle vehicle candidate group and the virtual radar sensor.