The Longitudinal Driving Behavior of a Vehicle Assisted with Lv2 Driving Automation: An Empirical Study

Table 1

Standstill gap (CC0) and time headway (CC1) values for the Wiedemann 99 model.

Vehicle capability	CC0 (m)	CC1 (s)	Source
ACC	3.5	1.8	Goodall and Lan [14]
CACC	4.0	0.3/0.6/1.0	Zeidler et al. [25]
dCACC	6.0	1.0
AV cautious	1.5	1.5	Sukennik et al. [16]
AV normal	1.5	0.9
All knowing	1.0	0.6
ACC	1.5	1.2	Rossen [26]
CACC	1.25	0.75
Lv1	1.5	0.9	Atkins [24]
Lv2/3 cautious	2.5	1.8
Lv2/3 normal cautious	2.0	1.2
Lv2/3 normal assertive	1.0	0.8
Lv2/3 assertive	0.5	0.6
ACC aggressive	1.5	0.5	Bierstedt et al. [23]
ACC intermediate	1.5	0.8
ACC conservative	1.0	1.2