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

Table 2

Following variation (CC2) and threshold for entering “following” (CC3) regime from the Wiedemann 99 model.

Vehicle capability	CC2 (m)	CC3 (s)	Source
ACC	2.0	8	Goodall and Lan [14]
CACC	0.0	40	Zeidler et al. [25]
dCACC	0.0	40
AV cautious	0.0	10	Sukennik et al. [16]
AV normal	0.0	8
All knowing	0.0	6
ACC	3.0	12	Rossen [26]
CACC	2.0	12
ACC aggressive	2.0	8	Bierstedt et al. [23]
ACC intermediate	3.0	12
ACC conservative	4.0	16