**6.14 Obstacle & collision warning**

The driver will be warned if a potential collision is detected with e.g. another car or obstacle. This warning can be, for example acoustic, visual. The functional limits of these systems have to be clearly pointed out.

In city environments, collision between vehicles and pedestrians or cyclists often result in serious injuries as there is a little time for either party to react. Protocol accuracy requirements [12] for this kind of collision are the following.

