The 4D imaging radar seems to be the answer to these problems, as the ZF Premium 4D imaging radar on the  R7 has a maximum detection range of 350 m.
The Premium 4D imaging radar provides accurate detection of distance, speed, angular direction and height, and its long-range point cloud density can be increased by a factor of four. The R7 is equipped with two such radars.

In short, the Premium 4D Imaging Radar is theoretically an effective solution for detecting obstacles such as ice-cream cones, manhole covers, bridges and crossings at road junctions, which can effectively improve driving safety in extreme weather.