Now this is getting cool. Surely the radar sensor should be enough to clarify whether or not what is perceived to be an object between the two cars actually exist?
I mean, when satellites can measure changes in elevation on the ground using InSAR sensors, then surely a car can spot an object in between it and another larger object just by comparing the distances between where the radar signals bounces off the large object (the car) and where it bounces of the smaller object (the bicycle) and conclude that it is indeed a bicycle if itsdistance is significantly lower.
Cool topic, keep posting!