Table 1: Characteristic parameters.

Feature numberFeaturesMeaning

1VVMMean vehicle velocity
2VVDStandard deviation of vehicle velocity
3VAMMean vehicle acceleration
4VAMStandard deviation of vehicle acceleration
5SAMMean steering wheel angle
6SADStandard deviation of steering wheel angle
7SVMMean steering wheel angular velocity
8SVDStandard deviation of steering wheel angular velocity
9TPMMean throttle position
10TPDStandard deviation of throttle position
11YAMMean yaw angle
12YADStandard deviation of yaw angle
13YVMMean yaw angular velocity
14YVDStandard deviation of yaw angular velocity