Performance Improvement of Collision Warning System on Curved Road Based on Intervehicle Communication

Table 3

Margin of error, ICCWS, CCWS, and FCWS.

	Standard speed [km/h]	Collision warning system	Margin of error [%]
Scenario 1	20	ICCWS	3.18
		CCWS	10.67
		FCWS	83.40
	25	ICCWS	2.40
		CCWS	10.00
		FCWS	81.73
	30	ICCWS	2.96
		CCWS	10.48
		FCWS	81.76
Scenario 2	30	ICCWS	1.06
		CCWS	10.32
		FCWS	78.20
	35	ICCWS	0.78
		CCWS	10.17
		FCWS	77.92
	40	ICCWS	2.65
		CCWS	12.38
		FCWS	80.07
Scenario 3	40	ICCWS	1.15
		CCWS	8.17
		FCWS	79.30
	45	ICCWS	1.94
		CCWS	8.66
		FCWS	79.88
	50	ICCWS	2.20
		CCWS	8.68
		FCWS	79.80
Scenario 4	50	ICCWS	0.59
		CCWS	5.23
		FCWS	82.58
	55	ICCWS	1.33
		CCWS	5.70
		FCW	82.96
	60	ICCWS	1.11
		CCWS	5.53
		FCWS	83.19