A Forward Collision Warning Algorithm With Adaptation to Driver Behaviors

Significant effort has been made on designing user-acceptable driver assistance systems. To adapt to driver characteristics, this paper proposes a forward collision warning (FCW) algorithm that can adjust its warning thresholds in a real-time manner according to driver behavior changes, including both behavioral fluctuation and individual difference. This adaptive FCW algorithm overcomes the limit of traditional FCW with fixed risk evaluation models and fixed triggering thresholds by continuously monitoring driver braking behaviors in multiple lanes. A real-time identification algorithm for the warning thresholds is designed by using the recursive least squares method. Based on naturalistic experimental data, offline simulations show that this algorithm can match driver behavioral fluctuation and individual difference in long-time driving condition, and as time goes on, the adaptability to driver behavior is gradually improved, thus decreasing the false-alarm rate of FCW.