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

Table 5

Interval number of the reference characteristic values.

Force	Driving propensity	Target vehicle type	Surrounding vehicle type	Relative distance	Relative speed	Traffic flow density	Average speed
SA	Radical	Small or middle or large	Small or middle	[22.5, 70.5]	[1.4, 5.1]	[0, 51]	[34,75]
	Common			[25.8, 83.6]	[2.2, 7.2]
	Conservative			[38.3, 91.8]	[3.7, 12.3]
MA	Radical	Small or middle or large	Small or middle	[16.8, 60.9]	[1.2, 4.6]	[20, 54]	[25, 69]
	Common			[20.6, 72.1]	[1.8, 6.4]
	Conservative			[31.9, 81.1]	[3.2, 11.2]
WA	Radical	Small or middle or large	Small or middle or large	[11.2, 67.1]	[−0.1, 3.8]	[25, 55]	[29, 71]
	Common			[15.3, 79.4]	[−0.2, 5.5]
	Conservative			[25.5, 87.8]	[−0.3, 9.4]
Zero	Radical	Small or middle or large	Small or middle or large	[10.5, 61.5]	[−2.4, 3.5]	[24, 56]	[35, 68]
	Common			[14.8, 74.7]	[−3.6, 5.1]
	Conservative			[24.7, 81.6]	[−6.5, 8.9]
WR	Radical	Small or middle or large	Small or middle or large	[7.2, 55.7]	[−2.8, 3.4]	[26, 59]	[28, 61]
	Common			[11.1, 66.7]	[−4.1, 4.9]
	Conservative			[19.6, 75.6]	[−7.1, 8.6]
MR	Radical	Small or middle or large	Middle or large	[3.6, 53.9]	[−3.4, 3.3]	[28, 64]	[25, 58]
	Common			[5.5, 64.2]	[−4.7, 4.8]
	Conservative			[9.8, 73.2]	[−8.6, 8.4]
SR	Radical	Small or middle or large	Middle or large	[0, 52.2]	[−6.6, 1.6]	[31, 100]	[22, 52]
	Common			[0, 61.7]	[−6.8, 2.5]
	Conservative			[0, 71.3]	[−11.7, 4.5]