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

Table 9

Recognition results of the force of each vehicle on the target vehicle.

Surrounding vehicle	Driving propensity	Target vehicle type	Surrounding vehicle type	Relative distance	Relative speed	Traffic flow density	Average speed	Force of vehicle
Left-front vehicle	Radical	All forces	SA ∼ WR	SA	SA	SA	MA	SA
Left-rear vehicle			SA ∼ WR	Zero	Zero	SA	MA	WA
Front vehicle			SA ∼ WR	Zero	WA	WR	WR	WR
Rear vehicle			All forces	SA	WA	WR	WR	WR
Right-front vehicle			All forces	SA	WA	WA	MR	WA
Right-rear vehicle			WA ∼ SR	SA	WA	WA	MR	WR