Research on Safety Lane Change Warning Method Based on Potential Angle Collision Point

Table 2

Actual distance during the two-stage lane change in four scenes.

Angle collision scene	Angle collision point	Conditions for angle collision point	Actual distance	Remarks
CL-car and; P-front	①
	②	,
CL-car and; P-back	①
	②	,
CL-car and; T-front	①	,
	②
CL-car and; T-back	①	,
	②