An Improved Car-Following Speed Model considering Speed of the Lead Vehicle, Vehicle Spacing, and Driver’s Sensitivity to Them

Table 2

Exemplary data entries associated with one car-following group of vehicles using travel lane 3 (1.5-second refreshing rate).

Frame_ID	Spacing (m)	Lag vehicle		Lead vehicle		Mahalanobis distance
		Speed (m/s)	Acceleration (m/s^2)	Speed (m/s)	Acceleration (m/s^2)
211	23.13	7.01	−0.05	7.70	0.03	1.92
212	23.20	7.00	−0.04	7.70	0.05	1.82
213	23.27	7.02	0.29	7.70	−0.11	1.71
214	23.34	7.09	1.02	7.66	−0.56	1.30
215	23.40	7.23	1.82	7.57	−1.14	1.71
216	23.43	7.42	2.19	7.45	−1.42	2.13
217	23.41	7.62	1.82	7.33	−1.15	1.70
218	23.36	7.76	1.01	7.24	−0.56	1.49
219	23.29	7.83	0.29	7.21	−0.10	1.88
220	23.22	7.84	−0.04	7.20	0.05	1.71
221	23.16	7.84	−0.04	7.20	0.02	1.21
222	23.09	7.84	0.00	7.21	0.05	1.37
223	23.03	7.84	0.00	7.21	0.05	1.97
224	22.97	7.84	0.00	7.19	−0.39	2.30
225	22.90	7.76	−1.27	7.09	−1.44	3.58