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This paper describes a method and an associate device to analysis overtaking or lane changing manoeuvres to be performed or those in which the vehicle is already engaged. The device assists the driver in the overtaking manoeuvres by automatic analysis of distances, speeds and accelerations of the overtaken and the incoming vehicles from the opposite sense, having the possibility of optical and acoustic warning in the event of a prohibited, dangerous or risky overtaking, or validating a safe manoeuvre that can be performed risk-free. The studied sensors are FMCW radar and video cameras cooperating in a “sensor-fusion” concept. The paper describes a series of experimental tests designed to establish the necessary parameters that the respective sensors must meet to ensure the effective monitoring of an overtaking maneuver. The main parameters theoretically designed and experimentally measured are perception distance to the objects of interest (small, medium, large cars, motorcycles, bicycles, pedestrians, etc.), the maximum relative speed that can be noticed, the minimal angular resolution for correct perception of two nearby vehicles.

Intelligent system for driver assistance in overtaking manoeuvres using multiple Camera and Radar Sensors -part1