How to implement a virtual sensor in Torcs?

Hi,
     I am using Torcs as part of a project , where i have to add two robots
and implemente Adaptive Cruise Control based on the distance between the
two robots in Torcs. As of now, i calculate the distance between the two
cars, by finding the difference between the distance covered by the two
cars, for every simulation time step. This is somewhat of a "near perfect"
implementation and not how it works in real world cars which use a radar
sensor to detect obstacles in front and adapt accordingly.

Is there a way to implement a virtual sensor in Torcs, say something that
works like a Radar(used in real cars) or say a ping sensor for a demo
model? Basically, I am looking at  a sensor implementation in software or
maybe even some available code that models a sensor that i can interface
with Torcs.

For e.g., if a car in front is going over a curve on the road, it may go
out of the range of view of my radar sensor . When both cars are on a
straight road and on same lanes, the virtual sensor gets the correct
reading and implements ACC. If there a lane change by the car in front,
then the sensor detects that there is no obstacle in front and can speed up.


Is there a way to progmmatically implement such a sensor behaviour in Torcs
? Has anyone done something like this in Torcs or knows of something that
will work in my case? Please provide any suggestions and ideas that come to
mind.


Regards,
Anand.

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