Fig. 4: Threshold analysis of the maximum allowable time of driving on the lane line \({t}_{{{{{{{{\rm{cl}}}}}}}}\_\max }\) and the minimum allowable TTC with the preceding vehicle \({{{{{{{{\rm{TTC}}}}}}}}}_{{{{{{{{\rm{cl}}}}}}}}\_\min }\).
From: Online legal driving behavior monitoring for self-driving vehicles
a Trigger condition activation period. The trigger is active when the ego vehicle’s bounding box overlaps with the lane lines. b TTCini with the preceding vehicle. Once the trigger is active, the TTC with the preceding vehicle is defined as TTCini. c Distribution of the time of driving on the lane line. d The ratio of tcl to TTCini in different TTCini data points and fitting curve. Source data are provided as a Source Data file.
