Safe distance model and obstacle detection algorithms for a collision warning and collision avoidance system

Safe-driving was assisted with key parameters calibrated according to the driver’s characteristics using a developed system of vehicle collision warning and collision avoidance (CW/CA). The system defines the inverse of time-to-collision (TTC-1) as the evaluation index with the grading warning and braking safe distance model adopted based on hazardous level e. A millimeter waveradar obstacle detection method was designed with adaptive cruise control (ACC). The system configuration and control logic were designed based on a Jetta car with the collision avoidance test and the manual / automatic interaction test implemented on dry roads. The real car experiments show that the CW/CA system in accordance with desired TTC-1 index improves vehicle active safety, and embodies the driver’s priority and cooperation.