This book concentrates on improving the prediction of a vehicle s future trajectory, particularly on non-straight paths. Having an accurate prediction of where a vehicle is heading is crucial for the system to reliably determine possible path intersections of more than one vehicle at the same time. The US DOT will be mandating that all vehicle manufacturers begin implementing V2V and V2I systems, so very soon collision avoidance systems will no longer rely on line of sight sensors, but instead will be able to take into account another vehicle s spatial movements to determine if the future...