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

Table 3

Negative (CC4) and positive (CC5) “following” thresholds for the Wiedemann 99 model.

Vehicle capability	CC4 (m/s)	CC5 (m/s)	Source
ACC	0.1	0.1	Goodall and Lan [14]
CACC	0.0	0.0	Zeidler et al. [25]
dCACC	0.0	0.0
AV cautious	0.1	0.1	Sukennik et al. [16]
AV normal	0.1	0.1
All knowing	0.1	0.1
ACC	0.35	0.35	Rossen [26]
CACC	0.35	0.35
ACC aggressive	0.1	0.1	Bierstedt et al. [23]
ACC intermediate	0.35	0.35
ACC conservative	0.6	0.6