Radar Based Lateral Clearance Decreasing Warning System

In this paper, a Lateral Clearance Decreasing Warning System is proposed. This system belongs to the level zero of Advanced Driver Assistance Systems. The system is based on tracking the position of detected objects on the lateral sides of the vehicle and warn the driver if the distance to these objects is less than a particular distance (a safe margin). LCDWS has three main tasks: to detect objects on the road, to track these objects, and to warn the driver if there is a potential collision with the vehicle. A tracking and prediction of the lateral distance can be done using Kalman filter. A disturbed distance of the objects can be measured based on data fetched from two radars located on the left and the right sides of the vehicle. A system verification is carried out using simulations in MATLAB environment and Simulink. Experimentally, the whole system is demonstrated on real vehicles subjected to a real scenario.