A collision-prediction unit for a vehicle including a road condition detector, a maximum deceleration estimator, a forward vehicle detector, a forward vehicle deceleration calculator, and a collision examiner is provided. The road surface detector detects a condition of a road surface on which the vehicle...http://www.google.de/patents/US7184889?utm_source=gb-gplus-sharePatent US7184889 - Collision-prediction unit for a vehicle
