I. Introduction
Automotive collision avoidance (CA) systems monitor the surrounding environment and use this information to help the driver avoiding or mitigating collisions with other road users or stationary objects. When a collision is imminent, the system can autonomously intervene by braking or steering to reduce impact velocity or completely avoid the impending collision. To make this decision, the system needs to assess the severity of the situation. If the system intervenes in nonsevere situations, this can be a nuisance to the driver. On the other hand, if the system does not intervene in a severe situation, it will fail in its purpose. These interventions are termed unnecessary and missed interventions, respectively.