A unified approach to collision warning due to in-lane and neighboring traffic is presented. It is based on the concept of velocity obstacles, and is designed to alert the driver of a potential front collision and against attempting a dangerous lane change maneuver. The velocity obstacle represents the set of the host velocities that would result in collision with the respective static or moving vehicle. Potential collisions are simply determined when the velocity vector of the host vehicle penetrates the velocity obstacle of a neighboring vehicle. The generality of the velocity obstacle and its simplicity make it an attractive alternative to competing warning algorithms, and a powerful tool for generating collision avoidance maneuvers. The velocity obstacle-based warning algorithm was successfully tested in simulations using real sensor data collected during the Automotive Collision Avoidance System Field Operational Test (ACAS FOT) [10].


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    Title :

    A Unified Approach to Forward and Lane-Change Collision Warning for Driver Assistance and Situational Awareness


    Additional title:

    Sae Technical Papers


    Contributors:

    Conference:

    SAE World Congress & Exhibition ; 2008



    Publication date :

    2008-04-14




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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