Moreover, if there are more than one satisfied neighboring vehicles C1-1, C1-2, ..., and C1-m in N (i.e., |N| = m > 1), it implies that C1-1, C1-2, ..., and C1-(k-1) have to accelerate to leave SF whereas C1-k, C1-(k+1), ..., and C1-m have to decelerate to leave SF (depending on the time t1-k to move outside SF spent by C1-k) and fleet lane changing can be done by F after C1-1, C1-2, ..., and C1-m move outside SF (i.e., Case 3 in Fig. 7), where X1-k < Xsep and X1-(k-1) > Xsep. Temg is the remaining time that C2-1 can keep the same speed S2-1 without any braking before C2-1 arrives at the location Xemg of the emergency incident occurring in the same lane, which can be calculated as
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