Study on a Right-Turning Intelligent Vehicle Collision Warning and Avoidance Algorithm Based on Monte Carlo Simulation

Table 1

Division of three-level collision warning regions.

Three-level warning mechanism	TTC ϵ (0,2)	TTC ϵ (2,5)
I-level region (I-region)	{PC | 0 ≤ PC ≤ −0.1 TTC + 0.5}	{PC | 0 ≤ PC ≤ TTC/30 + 7/30}
II-level region (II-region)	{PC | −0.1 TTC + 0.5 ≤ PC ≤ 0.5}	{PC | TTC/30 + 7/30 ≤ PC ≤ 0.1 TTC + 0.3}
III-level region (III-region)	{PC | 0.5 ≤ PC ≤ 1}	{PC | 0.1 TTC + 0.3 ≤ PC ≤ 1}