Active Safety in Autonomous Land Vehicle

In this paper, active safety is divided into four stages, which are perception enhancement, driving warning, assistant driving, and autonomous driving. The autonomous driving stage which synthesized all the other stages is emphasized. The relationship of the autonomous driving with intelligent transport systems (ITS) program as well as its development in China is introduced. As an example of autonomous driving system, the prototype HongQi autonomous land vehicle is analyzed systemically. The control subsystem, the environments recognition subsystem and the experiments on the highway of the vehicle are presented in detail. It performs excellently through the thousands kilometers of autonomous driving. The vehicle can be a test-bed for various active safety techniques and parts of the achievements can be commercialized.