For AHS, following seven service domains were chosen based on their effectiveness to reduce accidents: 1) Support for prevention of collisions with forward obstacles; 2) Support for prevention of overshooting on curve; 3) Support for prevention of lane departure; 4) Support for prevention of crossing collisions; 5) Support for prevention of right turn collisions; 6) Support for prevention of collisions with pedestrians crossing streets; and 7) Support for road surface condition information for maintaining headway etc.