Driving Risk Field and Control Strategies for Autonomous Vehicles at a Signalized Intersection

Table 1

Parameters of risk field model.

No.	Notation	Explanation	Value
1		Cost of wheel rolling on the solid white lane line	1
2		Cost of wheel rolling on the solid yellow lane line	3
3		Cost of wheel rolling on the dotted white lane line	0.3
4		Vehicle weight of motorcycle, automobile, truck/bus	0.3 t, 1.5 t, 10 t
5		Unit cost of colliding with road boundary	1
6		Unit cost of speeding over the limit of 50 mile/h	1
7		Level of violating speed limit: 0–10%, 10%–20%	0, 1
8		Reaction time to brake to stop	1.5 s
9		Reaction time to decide to drive through	1.5 s
10		Maximum deceleration	5 m/s^−2
11		Maximum vehicle acceleration	3 m/s^−2
12		Intersection width of Peachtree Street and 10^th street	110 feet, 90 feet
13		Vehicle length	As in NGSIM
14		Cost of moving past the stop line before green light	1000
15		Unit collision cost with neighboring vehicle	2
16		Driver reaction time	1.5 s
17		Safe distance between the vehicle and road elements	(i) 100 m for road sign
			(ii) 0.3 m for road lines
			(iii) 2 m for signal light
18		A randomly large constant	10000
19		Slope of Gaussian curve	0.0064
20		Gaussian width slope	0.001
21		Variability slope by vehicle steering angle	(i) for inner turning
			(ii) for outer