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Collision Warning / Collision Avoidance (CW / CA) systems have been an active research and development area as the interests and demands for active safety of road vehicles increase.A road-adaptive CW / CA algorithm has been proposed in this paper.The algorithm consists of a tire-road friction estimator, a distance warning decision algorithm and a brake control algorithm for collision avoidance.Since it would be useful to incorporate the tire-road friction information into a vehicle collision warning / collision avoidance algorithm, a real-time tire-road friction estimation method and a new CW / CA algorithm using the estimated tire-road friction have been developed.A'Hardware-in-the-Loop'(HiL) simulation system for the CW / CA system has been designed and used to test the algorithm, radar sensors, controllers, and warning displays under realistic operating conditions in the laboratory.
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Yi et al. (1999) studied this question.
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