Abstract
This paper describes a concept for a forward obstacle warning system with intervention brake featuring both safety protection and less intrusive operation. The closest possible distance to a forward vehicle is predicted by assuming it will brake suddenly to a stop. When the distance does not satisfy the required head way time, alarms are issued to the driver and finally the intervention brake is sequentially activated. When the driver applies the brakes late or insufficiently in response to the alarm, a smart brake assist function provides the necessary deceleration. The first alarm timing is selectable through a combination of parameters, i.e. estimated deceleration, brake response time, and head way time.