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

Table 8

Connection numbers and moduli of characteristic indexes of vehicles’ interaction force to be recognized (connection number is outside the bracket, and modulus is inside the bracket).

Surrounding vehicle	Driving propensity	Target vehicle type	Surrounding vehicle type	Relative distance	Relative speed	Traffic flow density	Average speed
Left-front vehicle	Radical	Small	Small	54 (54)	4.2 (4.2)	21 (21)	52 (52)
Left-rear vehicle			Small	42 (42)	2.9 (2.9)	21 (21)	52 (52)
Front vehicle			Small	43 (43)	1.2 (1.2)	45 (45)	47 (47)
Rear vehicle			Middle	28 (28)	−0.2 (0.2)	45 (45)	47 (47)
Right-front vehicle			Middle	52 (52)	2.4 (2.4)	42 (42)	46 (46)
Right-rear vehicle			Large	23 (23)	0.7 (0.7)	42 (42)	46 (46)