Fig. 5: Threshold analysis of the minimum allowable distance from the rear vehicle in the target lane \({d}_{{{{{{{{\rm{cl}}}}}}}}\_\min }\).
From: Online legal driving behavior monitoring for self-driving vehicles
a Distribution of the minimum acceleration of the RVTL during the LCM. b Lateral displacement of lane-keeping vehicles. c Different RVTL driving behaviors and their \({d}_{{{{{{{{\rm{cl}}}}}}}}}-{{\Delta }}\overline{v}\) data points when the trigger is first activated. d Instances retained when the RVTL maintains the target lane throughout the LCM progress. e Instances are retained where the RVTL is within the wandering zone when the trigger is first activated. f Instances are retained where RVTL deceleration is less than 0.7 m/s2 when the trigger is first activated. g RVTL' \({d}_{{{{{{{{\rm{cl}}}}}}}}}-{{\Delta }}\overline{v}\) data points marked with different interfered RVTL and dcl/dRSS value levels of the normal drive RVTL when the trigger is first activated in selected instances. h Optimal threshold line and RVTL' \({d}_{{{{{{{{\rm{cl}}}}}}}}}-{{\Delta }}\overline{v}\) data points marked with different compliance states when the trigger is first activated in selected instances. Source data are provided as a Source Data file.
