V_add

additional speed considering the tolerance for the test (m/s)

θ

angle of curved road (AOC) (deg)

V_current

current speed of the subject vehicle (m/s))

default lane width

predetermined width given to a lane when a visible lane marking exists only on one side of the lane and no other lane boundaries are detected by the system

predetermined width given to a lane when a visible lane marking exists only on one side of the lane and no other lane boundaries are detected by the system

G

gravitational acceleration (m/s²)

lateral clearance

the lateral clearance of a target vehicle is defined as the lateral distance between the side of the subject vehicle and the near side of a target vehicle.

the lateral clearance of a target vehicle is defined as the lateral distance between the side of the subject vehicle and the near side of a target vehicle.

lateral offset

lateral distance between the longitudinal centerlines of a subject vehicle (SV) and a target vehicle (TV), measured as a percentage of the width of the SV, such that if the centers of the two vehicles are aligned, the value is zero

lateral distance between the longitudinal centerlines of a subject vehicle (SV) and a target vehicle (TV), measured as a percentage of the width of the SV, such that if the centers of the two vehicles are aligned, the value is zero

latest warning line

outermost limit of the warning threshold

outermost limit of the warning threshold

look ahead distance (V_max)

curve detection range of the CSWS
NOTE 1 to entry: For the curvature points that have radius of curvature ≤RC and the distances from the subject vehicle to the curved roads are < SLAD, the curvature point is considered to be a curvature point of interest.

curve detection range of the CSWS
NOTE 1 to entry: For the curvature points that have radius of curvature ≤RC and the distances from the subject vehicle to the curved roads are < SLAD, the curvature point is considered to be a curvature point of interest.

R_min

lower threshold of the operational range in terms of the radius of curvature (m)

a_test

maximum allowed acceleration during curve test

a_{lateral_max}

maximum allowed lateral acceleration in curves

a_max

maximum allowed longitudinal acceleration

a_{d_max}

maximum braking deceleration (m/s²)

maximum operating speed (V_min)

maximum subject vehicle speed at which the CSWS shall operate

maximum subject vehicle speed at which the CSWS shall operate

a_{vehicle_max}

maximum possible deceleration capability during manual driving

a_min

minimum allowed longitudinal acceleration = Maximum allowed longitudinal deceleration

θ_min

minimum AOC (deg)

S_{warn_min}

minimum of warning threshold distance considering Vcurrent and tCSW_min (m)

minimum required deceleration (m/s²) (a_{d_req})

deceleration that, if constant, would enable the subject vehicle to match the warning threshold speed for the target curvature point of interest

deceleration that, if constant, would enable the subject vehicle to match the warning threshold speed for the target curvature point of interest

d_max

on the section of a curved road, the maximum distance from the point on the line consisting of two neighbouring road shape points to the point on the arc of the section (m)

R

radius of curvature at a point along a curved roadway (m)

relative velocity (v_r(t))

difference between the longitudinal velocities of the subject vehicle (SV) and the target vehicle (TV), vr(t), given by the equation; equivalently the rate of change with respect to time of the distance between the two vehicles
NOTE: A positive value of relative velocity indicates that the target vehicle is moving faster than the subject vehicle, and that the distance between them is…

difference between the longitudinal velocities of the subject vehicle (SV) and the target vehicle (TV), vr(t), given by the equation; equivalently the rate of change with respect to time of the distance between the two vehicles
NOTE: A positive value of relative velocity indicates that the target vehicle is moving faster than the subject vehicle, and that the distance between them is increasing with time vr(t)= vTV(t)-vSV(t).

roadway radius of curvature

the roadway radius of curvature is the horizontal radius of curvature of the road on which the subject vehicle is travelling

the roadway radius of curvature is the horizontal radius of curvature of the road on which the subject vehicle is travelling

V_test

test vehicle speed (m/s)

v

the true subject vehicle speed over ground

RC

threshold radius of curvature to define a curvature point of interest; the curvature point of interest is reached if the radius of the curvature of the particular location is less than RC (m)

time gap; gap; time gap between vehicles (τ)

value calculated from vehicle speed v and clearance c by τ = c/v
NOTE 1 to entry: v is the subject vehicle speed and c the distance between the subject vehicle and the forward vehicle.

value calculated from vehicle speed v and clearance c by τ = c/v
NOTE 1 to entry: v is the subject vehicle speed and c the distance between the subject vehicle and the forward vehicle.

R_max

upper threshold of the operational range in terms of the radius of curvature (m)

V_{WT_max}

upper threshold of the warning threshold speed (m/s)