**Appendix A**

(**a**)

 (**b**)

**Figure A1.** Evaluation of the detections in the range of 60 to 200 m of the far-range radar sensor and sensor model. (**a**) Scatterplot of the real sensor detections. (**b**) Scatterplot of the sensor model detections.

**Figure A2.** Evaluation of the detections in the range of 60 to 200 m of the far-range radar sensor and sensor model. (**a**) PDF of the deviation in the *x*-direction from <sup>P</sup>*ref*(*<sup>x</sup>*, *y*) of the real sensor and sensor model. (**b**) PDF of the deviation in the *y*-direction from <sup>P</sup>*ref*(*<sup>x</sup>*, *y*) of the real sensor and sensor model.

**Figure A3.** Evaluation of the detections in the range of 60 to 200 m of the far-range radar sensor and sensor model: PDF of the relative velocity in the *x*-direction from the reference velocity of the real sensor and sensor model.
