Recognition Method of Vehicle Cluster Situation Based on Set Pair Logic considering Driver’s Cognition

Table 4

Reduction rules of the force of the side lane.

The force from the adjacent lane	The force from the separated lane	The force exerted by the side lane on the target vehicle
Attractive force	Attractive force	Attractive force
Attractive force	Zero	Attractive force
Attractive force	Repulsive force	Zero
Zero	Attractive force	Attractive force
Zero	Zero	Zero
Zero	Repulsive force	Zero
Repulsive force	Attractive force	Repulsive force
Repulsive force	Zero	Repulsive force
Repulsive force	Repulsive force	Repulsive force