Fig. 6: Threshold analysis of the minimum allowable time difference between left-turn vehicle and straight-moving vehicle to intersection point \({{{{{{{{\rm{TTI}}}}}}}}}_{{{{{{{{\rm{diff}}}}}}}}\_\min }\).
From: Online legal driving behavior monitoring for self-driving vehicles
a Times to the intersection point of left-turn and straight-moving vehicles. As the vehicle moves towards the intersection point, the data points also move along the curve towards the horizontal or vertical axis. The marked data points on each line correspond to the data points in Fig. 6b. b Safety distance indicator of straight-moving vehicles at the time of activation of the trigger condition. Points below 0 m are considered unsafe. c Virtual lane lines and conflict areas of a left-turn and straight-moving conflict scenario. d Interference indicator of straight-moving vehicles at the time of activation of the trigger condition. The points below –0.7 m/s2 are regarded as interfered. e States of straight-moving vehicles when left-turning vehicles pass the conflict zone first. Source data are provided as a Source Data file.
