“…In most studies the force exerted by the system was either a function of an external variable that represented the current position of the vehicle with respect to the road (e.g., deviation from lane centre) [6], [27], [32], [38], [39], [45], [46], [58], [65]- [68] or used a look-ahead principle, which determined the future position of the vehicle with respect to the road (e.g., time to line crossing) [12], [30], [41], [47]- [49], [54]- [56], [67], [69]. Guidance systems designed to support car-following often used a function that combined TTC and THW to determine a counterforce on the gas pedal [6], [22], [39], [45].…”