  Road departure detection systems (RDDSs) for eliminating unintentional road
departure collisions have been developed and equipped on some commercial
vehicles in recent years. In order to provide a standardized and objective
performance evaluation of RDDSs without the affections of systems complex
nature of RDDSs and the design requirements, this paper proposes the
development of the scoring method for evaluating vehicle RDDSs. Both flat road
edge and vertical road edge are considered in the proposed scoring method,
which combines two key variables: 1) the lateral distance of vehicle from road
edge when RDW triggers; 2) the lateral distance of vehicle from road edge when
RKA triggers. Two main criteria of road departure warning (RDW) and Road
Keeping Assistance (RKA) are used to describe the performance of RDDSs.

Systems and Control;Systems and Control