Vehicle Driving Risk Prediction Based on Markov Chain Model

Table 2

Instantaneous driving risk level definition.

Risk group	Risk level	Thresholds
High risk	RL9	1.0 iTTC
	RL8	0.67 iTTC < 1.0
	RL7	0 iTTC < 0.67 & THW < 0.9
	RL6	0 iTTC < 0.67 & 0.9 THW < 1.3
	RL5	0 iTTC < 0.67 & 1.3 THW < 1.8
Low risk	RL4	0 iTTC < 0.67 & 1.8 THW < 2.5
	RL3	iTTC < 0 & THW < 2.5
	RL2	0 iTTC < 0.67 & 2.5 THW
	RL1	iTTC < 0 & 2.5 THW