Wei Liu Chunyan Song Pengyu Fu Nan Wang Huai Yuan A Rear Vehicle Location Algorithm for Lane Change Assist. 82-85 2007 MVA http://b2.cvl.iis.u-tokyo.ac.jp/mva/proceedings/2007CD/papers/03-14.pdf conf/mva/2007 db/conf/mva/mva2007.html#LiuSFWY07