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A Unified Approach to Forward and Lane-Change Collision Warning for Driver Assistance and Situational Awareness
Technical Paper
2008-01-0204
ISSN: 0148-7191, e-ISSN: 2688-3627
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English
Abstract
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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Authors
Topic
Citation
Shiller, Z., Prasanna, R., and Salinger, J., "A Unified Approach to Forward and Lane-Change Collision Warning for Driver Assistance and Situational Awareness," SAE Technical Paper 2008-01-0204, 2008, https://doi.org/10.4271/2008-01-0204.Also In
Intelligent Vehicle Initiative (IVI) Technology Controls and Navigation Systems, 2008
Number: SP-2193; Published: 2008-04-14
Number: SP-2193; Published: 2008-04-14
References
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