9.0 Program Overview 3
9.1 INTRODUCTION 11
9.2 CRASH CLASSIFICATIONS AND THE ASSOCIATED SAFETY WARNING COUNTERMEASURES 12
9.2.1 Rear End Crashes 14
9.2.2 Road Departure Crashes 15
9.2.3 Intersection Crashes 16
9.2.4 Lane Change/Merge Crashes 18
9.2.5 Summary 19
9.3 FORWARD COLLISION WARNING (FCW) 21
9.3.1 Limitations on Human Perception 21
9.3.2 Algorithm Alternatives 22
Time 28
9.3.3 Braking Rates 30
9.3.4 Driver’s Brake Reaction Time 33
9.3.5 Cautionary Alerts 36
9.3.6 Driver Vehicle Interface 39
9.3.7 Nuisance Alerts 52
9.4 LANE DRIFT WARNING (LDW) 55
9.4.1 Algorithm Alternatives 55
9.4.2 Driver Vehicle Interface 57
9.4.3 Nuisance Alerts 60
9.5 STOP SIGN VIOLATION WARNING (SSVW) 61
9.6 BLIND SPOT WARNING (BSW) 63
9.7 ADAPTIVE ENHANCEMENTS 66
9.7.1 Forward Collision Warning (FCW) 68
9.7.2 Lane Drift Warning (LDW) 70
9.7.3 Stop Sign Violation Warning (SSVW) 71
9.7.4 Blind-spot Warning (BSW) 72