说明：  Collision avoidance in roads can be addressed in several ways, being cooperative systems one of the most promising options. In cooperative collision avoidance support systems (CCASS) the vehicles which constitute a scene share by means of communication links information that can be useful to detect a potentially risky situation. Typically, this information describes the kinematic state of each vehicle and can be complemented with a prediction of its next state. Indeed,
(Collision avoidance in roads can be addressed in several ways, being cooperative systems one of the most promising options. In cooperative collision avoidance supportCollision avoidance in roads can be addressed in several ways, being cooperative systems one of the most promising options. In cooperative collision avoidance support systems (CCASS) the vehicles which constitute a scene share by means of communication links information that can be useful to detect a potentially risky situation. Typically, this information describes the kinematic state of each vehicle and can be complemented with a prediction of its next state. Indeed, systems (CCASS) the vehicles which constitute a scene share by means of communication links information that can be useful to detect a potentially risky situation. Typically, this information describes the kinematic state of each vehicle and can be complemented with a prediction of its next state. Indeed,)