In recent years, a number of intelligent vehicle and highway systems (IVHS) have been propo9sed and developed in response to the increasing demands of efficient, convenient, and safe driving on the highways. With these systems, lateral ad headway vehicle control maintains driving stability. Headway control keeps the controlled vehicle an appropriate distance from a vehicle dircetly ahead. Each vehicle needs to have an obstacle detection system installed ot monitor distances to other vehicles and their relative speeds. In these headway control systems, radar sensors have typically been used. Inter-vehicle or roadside-vehicle communication systems, or vision systems with image processing, have also been used for more stable vehicle control. This is needed because of the problems involved in recognizing the lane spearation of preceding vehicles.
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