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This paper deals with a blind spot assistance system that assists the driver by generating yaw-moment when a driver's lane change maneuver is detected and when there is an object present in the blind spot area of the adjacent lane. The system combines lane information and driver's maneuver information for estimating the driver's lane change. If the millimeter wave sensor detects an object in the rear blind spot area in the event of a lane change, direct yaw-moment in the opposite direction of the lane change maneuver is generated. The unique method of detecting driver's lane change, control method of assisting the driver to recover back in lane, and the system design to maintain driver compatibility is mentioned, together with the effectiveness of the system.

Various driver assistance systems have been developed for maintaining a vehicle in its lane. For example, systems that apply force to the steering gear to help the driver keep the vehicle in the center of its lane are becoming popular. On the other hand, direct yaw-moment control systems have been developed for use in stabilizing the vehicle in extremer conditions where loss of control is detected. This paper deals with a system for aiding drivers in recovering from lane departure and maintaining the vehicle in its lane by utilizing direct yaw-moment control. The system uses a CCD camera to recognize lane makers and detects lane departures based on the positional relationship between the vehicle and the lane. When a lane departure is detected, the system applies force to the wheels to generate a yaw moment in the vehicle, so that it turns towards the original lane.