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A vehicle Frontal Collision Warning System (FCWS) based on improved target tracking and threat assessment for collision avoidance is described in this paper. The system acquires longitudinal and lateral position of objects from radar and Lidar. Together with host's speed and angular velocity, the system tracks all the targets in front. The threat assessment, based on the knowledge of current state, provides a warning signal to the driver when a potential collision is detected. Extensive field tests show that, with the stable and accurate tracks, the warning system not only provides high accuracy in detecting potential collisions but also responds exactly in time to assist the driver.
Wei et al. (Sat,) studied this question.