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Obstacle detection system for automotive vehicle

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TLDR
In this paper, an obstacle detection system for an automotive vehicle detects obstacles ahead of the vehicle and finds the dynamic relativity between the vehicle between each obstacle and each of the obstacles, based on which information relating to a danger level between vehicle and each obstacle is operated on so as to make a danger judgement.
Abstract
An obstacle detection system for an automotive vehicle detects obstacles ahead of the vehicle and finds the dynamic relativity between the vehicle and each of the obstacles. Based on the dynamic relativity, information relating to a danger level between the vehicle and each obstacle is operated on so as to make a danger judgement. A frequency, at which the operations on the information relating to danger level are made, is increasingly or decreasingly varied according to the danger levels of the obstacles.

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References
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Automobile collision avoidance system

TL;DR: In this paper, an automobile collision avoidance system based on laser radars for aiding in avoidance of automobile collisions is presented. But the system is not suitable for use in highway driving.
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TL;DR: In this article, a method for avoiding collision between a motor vehicle and obstacles placed in the path of the vehicle comprises the stages of forming a radar map of the area in front of a vehicle, reconstructing the geometry of the road, identifying its edges, detecting the position and speed of vehicle with respect to the road and determining the vehicle's presumed path on the basis of road geometry and the manoeuvre being carried out by the vehicle at that instant.
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