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To address this issue, this paper conducts an in-depth analysis of vehicle emergency braking behavior based on the Aerial Dataset for China Congested Highway and Expressway (AD4CHE). The extraction method for the emergency braking risk scenario of natural driving data is proposed, and the correlation between safe distance, safe speed, and driving safety under the scenario of a slightly congested expressway is elaborated in detail. The safety threshold of ambiguous traffic rules obtained can be used for the digitalization of traffic rules that can support the functional development and traffic safety testing of automated driving systems.<\/jats:p>","DOI":"10.3390\/systems12120568","type":"journal-article","created":{"date-parts":[[2024,12,16]],"date-time":"2024-12-16T10:08:53Z","timestamp":1734343733000},"page":"568","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Research on Compliance Thresholds Based on Analysis of Driver Behavior Characteristics"],"prefix":"10.3390","volume":"12","author":[{"given":"Mingyue","family":"Ma","sequence":"first","affiliation":[{"name":"Research Institute for Road Safety of the Ministry of Public Security of China, Beijing 100062, China"}]},{"given":"Weiqing","family":"Wang","sequence":"additional","affiliation":[{"name":"Research Institute for Road Safety of the Ministry of Public Security of China, Beijing 100062, China"}]},{"given":"Zelin","family":"Miao","sequence":"additional","affiliation":[{"name":"Research Institute for Road Safety of the Ministry of Public Security of China, Beijing 100062, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8367-8946","authenticated-orcid":false,"given":"Tao","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Public Policy and Administration, Chongqing University, Chongqing 400044, China"}]},{"given":"Guangming","family":"Zhao","sequence":"additional","affiliation":[{"name":"Research Institute for Road Safety of the Ministry of Public Security of China, Beijing 100062, China"}]}],"member":"1968","published-online":{"date-parts":[[2024,12,16]]},"reference":[{"key":"ref_1","unstructured":"WHO (2023). 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