The benefit of trolley truck systems is the substitution of the diesel fuel by the cheaper andmore ecological electrical energy. Trolley\r\ntrucks are powered by electricity fromtwo overhead contact lines, where one is the supply and the other the return conductor. Such\r\ntrolley trucks are used for haulage at open pit mining sites but could also be used for freight traffic at roadways in the future. Automatic\r\nguidance prevents the trolley-powered trucks fromleaving the track and thus allows higher operating speeds, higher loading\r\ncapacity, and greater efficiency. Radar is the ideal sensing technique for automatic guidance in such environments. The presented\r\nradar system with two-dimensional digital beamforming capability offers a compactmeasurement solution as it can be installed on\r\ntop of the truck. Besides the distance measurement, this radar system allows to detect the location and inclination of the overhead\r\ncontact lines by digital beamforming in two dimensions. Besides automatic guidance, the knowledge of the inclination of the overhead\r\ncontact lines could allow automatic speed adaption, which would help to achieve maximum speed especially in hilly terrain.
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