Collision warning should have a human interface, which can inform the driver of hazard situation fast, correctly and in safe. To meet this requirement, hypotheses are proposed that beep sound which has high emergency parameters, imitation sounds which the driver have ever experienced in a hazard situation, and sound issued from the direction of hazard are effective for the driver to recognize the direction and kind of hazards fast, correctly and in safe, and the hypotheses have been verified using a driving simulator.
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