I. Introduction
In Recent years, much research has been performed on safety functions that help drivers avoid or mitigate accidents through the use of in-vehicle systems, which sense the nature and significance of developing risk situations and communicate these perceived risks to the driver [1]. During the PReVENT integrated project [2], various preventive safety applications have been developed and demonstrated, such as safe speed and safe following, hazard messaging, lateral support (lane support [3] and lane-change assistant), intersection safety, collision mitigation, and precrash protection systems [4], [5].