In this study, we develop an low-cost Advanced Safety Vehicle (ASV) onboard unit that integrates driving warning and car-following control systems on a vision-based platform for laboratory and real-time experiments. This onboard unit mainly consists of three systems including the lateral departure warning System (LDWS), the forward vehicle collision warning system (FVCWS), and the adaptive car-following control system. This onboard system has been validated in laboratory experiments that we have higher than 95% accuracy among 76 tested scenarios. In addition, the results of total 2000-kilometer real-time field tests indicate the characteristics of high accuracy and low false alarm, and further demonstrate the robustness of the proposed system.
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