“…The fuzzy logic method [17,18] was used to grade the effect size, in which the vehicle type (Small, Middle, Large), relative distance (Danger, Near, Medium, Far), relative speed (Negative Large, Negative Small, Zero, Positive Small, Positive Large), traffic flow density of each lane (Small, Middle, Large), average speed of each lane (Large, Middle, Small), and the driver's propensity of target vehicle (Radical, Common, Conservative) were comprehensively considered. In the fuzzy logic method, the fuzzy variables, corresponding fuzzy sets, and the calculation of fuzzy subset boundary value can reference the literature [19].…”