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This paper presents an algorithm to calculate time to lane crossing (TLC). Several factors which may affect the accuracy of TLC are investigated, among which, the vehicle vibration, external disturbances acting on a vehicle, and vehicle state measurement errors are found to be the most significant. Finally, the bandwidth of time to lane crossing for typical highway driving is studied; a bandwidth of 2.5 Hz is identified.
Lin et al. (2005) studied this question.