Abstract
In this paper a road traffic monitoring system based on a 24 GHz radar sensor is considered. This radar sensor detects and tracks all moving and stationary objects in the local environment. The object tracking procedure used in the radar sensor can be improved if any road map information about the local environment of the sensor is available to the traffic monitoring system. This step is especially important if vehicles move in a non-linear way and on a curvy road. In this respect all target detections are applied in a self-organized road map calculation. The radar sensor measures automatically the position and direction of all straight and curved streets of the entire road network in the local environment. The road map calculation and the road finding algorithm are presented in this paper.
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