Abstract
This paper describes a strategy for warning and intervention to assist the driver in a lane change manoeuvre. The proposed strategy consists of a relative motion estimator and supervisor. In order to assess threat in a lane change situation, vehicle sensor information and rear-side radar sensor information have been combined in the relative motion estimator. An Extended Kalman Filter is used to estimate and revise information of relative motion between the subject vehicle and threat vehicle in the adjacent lane. The supervisor is designed to determine criterions of warning and intervention by the lateral driver support system and desired dynamics to prevent a collision in a lane change situation. In order to determine appropriate criterions with a consideration of threat level, the kinematics of the vehicles in longitudinal and lateral direction have been analyzed. The results of this research could be used to assess safety and threat in a lane change situation. Furthermore it could be applied to provide warnings or intervention for the lane change assistance system.
Published Version
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