Method for transmitting a warning
signal to a driver of a driven vehicle regarding an impending collision with a moving and / or
stationary object in the vicinity of the driven vehicle. The method comprises the following steps of providing the driven vehicle with means for obtaining updated data regarding, position,
velocity vector and predicted moving path of the objects; selecting a series of one or more time horizons having decreasing or increasing duration; for the longest of the selected time horizons: generating a linear velocity object (LVO) and / or non-linear velocity object (NLVO) of each of the objects; selecting a sampling time interval Δt, during which an LVO and / or NLVO is generated; determining a range of feasible
velocity vector changes for the driven vehicle that are attainable within a performance time interval ΔT; repeatedly providing the driver, after each Δt, with information regarding feasible
velocity vector changes for the performance time interval; sensing, estimating or assuming dynamic changes parameters representing the movement of the driven vehicle within the performance time interval, and whenever required, generating a warning
signal with an escalating
severity level that reflects the relative imminence of collision with the objects and that corresponds to the longest
time horizon; repeating the steps above, while each time generating an updated LVO and / or NLVO for a subsequent sampling time interval, until reaching another selected
time horizon which is shorter than a previously selected
time horizon and another selected time
horizon, until collision is unavoidable.