Takeover Quality: Assessing the Effects of Time Budget and Traffic Density with the Help of a Trajectory-Planning Method

Figure 9

Scatter plot showing each participant’s minimum TTC (MTTC) and maximum longitudinal deceleration in Scenario 3 (time budget = 7 s and traffic density = medium). A distinction is made between trials in which the approaching vehicle in the left lane made an emergency brake (in red) or not (in wide). Also shown are the trajectory planner values.