Abstract
This paper is part of an on-going research toward the development of a lane-departure warning system. The basic concept of the lane- departure warning system is to project vehicle trajectory, and compare with the perceived road geometry to calculate a performance metric termed time to lane crossing (TLC). When the calculated TLC is less than a threshold value, the control system will either issue warning signals or take intervention actions. An on-line estimation of road/tire characteristics is crucial for the TLC calculation and the overall lane-departure warning system. Accurate road/tire friction estimation can also improve the performance of many other vehicle control/safety systems such as ABS, traction control, and 4WS systems.
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