Heterogeneous Driver Modeling and Corner Scenarios Sampling for Automated Vehicles Testing

Figure 6

The results for the first simulation under TTC: (a) the probability density of TTC in scenario 1.1, (b) the probability density of TTC in scenario 1.2, (c) the probability density of TTC in the benchmark scenario, and (d) the comparison of the three scenarios.

(a)

(b)

(c)

(d)