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active safety active safety system Adaptive Cruise Control algorithm application automotive autonomous vehicle azimuth angle bits brake bytes collision avoidance concept contact patch control system curve depth perception detection developed digital certificate Digital Signature display dynamics edge lines elastic band estimated evaluated example factors field Figure friction coefficient graph headway distance host vehicle Hyundai Motor Company identified IEEE input Intelligent Transportation Systems interface intersection collision lane change lane departure lane markings lane recognition maneuver method Model Predictive Control module MOZEN multi-hop navigation system nodes on-board ontology parameters path planning perceived image position performance preceding vehicle public key radar range Range-Window real time traffic relative velocity road routing protocols sensors shown signal simulation steering subjects target test-bed tire traffic cost traffic information traffic speed vehicle's width window wireless yaw rate