Table 3 Four-level lane changing modes... | Emerald Publishing

Table 3

Four-level lane changing modes for anti-collision

Mode	Steering frequency /Hz	Host vehicle initial velocity /m/s	Decision time /s	Uniform deceleration /m/s²	Braking response time /s	t_p/s	Applicable condition
1	0.1	20	0.5	0	0	6.38	$Δ L + ({V^{'}}_{X 0} t_{p} + \frac{1}{2} a_{0} t_{p}^{2}) + l_{s a f e} \geq 138$
2	0.2			0	0	3.72	$85 \leq Δ L + ({V^{'}}_{X 0} t_{p} + \frac{1}{2} a_{0} t_{p}^{2}) + l_{s a f e} < 138$
3	0.3			0	0	2.84	$67 \leq Δ L + ({V^{'}}_{X 0} t_{p} + \frac{1}{2} a_{0} t_{p}^{2}) + l_{s a f e} < 85$
4	0.4			2	0.2	2.47	$57 \leq Δ L + ({V^{'}}_{X 0} t_{p} + \frac{1}{2} a_{0} t_{p}^{2}) + l_{s a f e} < 67$

Mode	Steering frequency/Hz	Host vehicle initial velocity/m/s	Decision time/s	Uniform deceleration/m/s²	Braking response time/s	t_p/s	Applicable condition
1	0.1	20	0.5	0	0	6.38	$Δ L + ({V^{'}}_{X 0} t_{p} + \frac{1}{2} a_{0} t_{p}^{2}) + l_{s a f e} \geq 138$
2	0.2			0	0	3.72	$85 \leq Δ L + ({V^{'}}_{X 0} t_{p} + \frac{1}{2} a_{0} t_{p}^{2}) + l_{s a f e} < 138$
3	0.3			0	0	2.84	$67 \leq Δ L + ({V^{'}}_{X 0} t_{p} + \frac{1}{2} a_{0} t_{p}^{2}) + l_{s a f e} < 85$
4	0.4			2	0.2	2.47	$57 \leq Δ L + ({V^{'}}_{X 0} t_{p} + \frac{1}{2} a_{0} t_{p}^{2}) + l_{s a f e} < 67$