# Blind Spot Detection Radar System Design for Safe Driving of Smart Vehicles
## 5 BSD Radar System Performance Test
### Results  
In order to evaluate the performance of the BSD radar, a testing environment was created, and the radar was installed on a vehicle to verify its performance in real-world road environments. To conduct the performance tests, five test scenarios were presented in accordance with the BSD radar specifications and its performance was evaluated under actual road conditions. In Case 1, as a test of target vehicle overtaking test vehicle, the test vehicle drove at a constant speed of 40 kph while the target vehicle approached from behind at a constant speed of 45 kph and overtook the test vehicle. The longitudinal distance of the target vehicle was measured based on the timing of when the warning was turned ON or OFF. As shown in Figure 16, the warning was activated when the target vehicle entered the BSD area of the test vehicle. The warning was deactivated when it exited the BSD area. In Case 2, as a test of test vehicle overtaking target vehicle, the target vehicle drove at a constant speed of 35 kph while the test vehicle approached from behind at a constant speed of 40 kph and overtook the target vehicle. The longitudinal distance of the target vehicle was measured based on the timing of when the warning was turned ON or OFF. As shown in Figure 17, the warning was activated when the target vehicle entered the BSDarea of the test vehicle as the test vehicle approached it for overtaking. The warning was deactivated when the target vehicle passed the test vehicle and exited the BSD area. In Case 3, as a test of target vehicle changing lanes laterally, the test vehicle drove at a constant speed of 40 kph while the target vehicle changed lanes from the adjacent lane to the next lane at the same speed. The distance of the target vehicle was measured based on the timing of when the warning was turned ON or OFF. As shown in Figures 18 and 19,  
Figure 16: Test Operation Scenarios and Results of Target Vehicle Overtaking Test Vehicle: (**a**) Before the target vehicle enters the BSD area of the test vehicle; (**b**) When the target vehicle enters the BSD area of the test vehicle (Warning ON); (**c**) Before the target vehicle exits the BSD area of the test vehicle; (**d**) When the target vehicle exits the BSD area of the test vehicle (Warning OFF). Figure 17: Test Operation Scenarios and Results of Test Vehicle Overtaking Target Vehicle: (**a**) Before the target vehicle enters the BSD area of the test vehicle; (**b**) When the target vehicle enters the BSD area of the test vehicle; (**d**) When the target vehicle exits the BSD area of the test vehicle (Warning OFF). the warning was activated when the target vehicle entered the BSD area of the test vehicle during the lane change. The warning was deactivated when the target vehicle completed the lane change and exited the BSD area. Figure 19: Test Operation Scenarios and Results of Target Vehicle Changing Lanes from Inside to Outside: (**a**) Before the target vehicle enters the BSD area of the test vehicle; (**b**) When the target vehicle enters the BSD area of the test vehicle (Warning ON); (**c**) Before the target vehicle exits the BSD area of the test vehicle; (**d**) When the target vehicle exits the BSD area of the test vehicle (Warning OFF). Figure 18: Test Operation Scenarios and Results of Target Vehicle Changing Lanes from Outside to Inside: (**a**) Before the target vehicle enters the BSD area of the test vehicle; (**b**) When the target vehicle enters the BSD area of the test vehicle (Warning ON); (**c**) Before the target vehicle exits the BSD area of the test vehicle; (**d**) When the target vehicle exits the BSD area of the test vehicle (Warning OFF). In Case 4, as a test of cyclist approaching test vehicle, the test vehicle drove at a constant speed of 10 kph and the distance was measured when a cyclist approached the BSD area of the test vehicle. As shown in Figure 20, the warning was activated when the cyclist entered the BSD area of the test vehicle. The warning was deactivated when the cyclist exited the BSD area.