Driving Risk Field and Control Strategies for Autonomous Vehicles at a Signalized Intersection

Table 2

Parameters of driver model.

No.	Notation	Explanation	Value
1		Risk threshold	1.96
2		Speed limit	50 mile/h
3	∆vn	Acceleration slope by the gap from speed limit	(i) 0.31 for strong acceleration ()
			(ii) 0.14 otherwise
4	∆vc	Acceleration slope to reduce the gap from speed limit	0.07