Joost C. F. de Winter Max Mulder René van Paassen T. Yamamura Weighted two-dimensional longitudinal impedance for driving support system. 256-260 2004 conf/smc/2004 SMC (1) http://dx.doi.org/10.1109/ICSMC.2004.1398306 db/conf/smc/smc2004-1.html#WinterMPY04