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A radar sensor is an essential part for forward collision warning and avoidance. The radar sensor gives information of relative distance and speed. However, some lane change situations need additional sensors for reliable estimation of relative motion. So, the authors introduce a vision system that can detect interruption by lane changing and give approximate relative distance. Vision data are used to verify radar data, and vision/radar data are used for more accurate estimation of relative motion. The authors perform a vehicle test for the verification of this algorithm.

This paper presents a simulator for Forward Collision Warning and Avoidance (FCWA) system. The proposed simulator is composed of a personal computer as a controller, a 24 GHz radar, a warning and brake lamp, a buzzer and a lead vehicle model which is driven by two AC servo motors. A FCWA algorithm determines the warning and braking headway distance by road surface condition (wet/dry), following vehicle velocity, and relative velocity. The simulator has been designed and used to test a FCWA algorithm under realistic operating conditions in the laboratory. Even failure situations which would normally not be feasible for real vehicle test can be tested in the simulator.