Model 2 : Pseudo Code - reyanshsolis/safety_driving_assist GitHub Wiki

Required Alertness Level is a function of Speed of Vehicle So, AttentionScore -= 2*(speed of vehicle)*(Count of continuous frames with Eyes Closed)

WARNING LEVEL and AUTO_BRAKE LEVEL are also function of Speed of Vehicle : AUTO_BRAKE LEVEL is calculated by : ( = z)

• v0 : is the speed of the vehicle at the time Emergency Braking was deployed
• tr : is the avg. reaction time (taken as 2 sec.)
• a : is the Retardation due to Maximum Braking Force
• lamda : is the safety multiplier as Maximum Braking Force will not be used to stop (0.7<lamda<0.9)

If (distance of nearest object/traffic in line of path (given by RADAR or LiDAR)) < z Emergency Braking System is activated BRAKING SYSTEM ALGORITHM IS EXPLAINED IN Autonomous_Braking_Algorithm Wiki

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Model 3:

Includes GPS and other Sensors data for complete Localisation and Use PID with the required value of Retardation and actual value of Retardation.

Model 4:

Quadratic Lane Curve Fitting Technique gives us as an Quadratic equation that fits the lane most closely, We can therefore calculate the Radius of Curvature of the turn using monocular Camera, and thus determine Safe Turning Speed for the car, and warn driver if the speed is above this limit or restrict the speed of the car to the Safe Limit Speed for the Turn.