Table 4.

Probabilities of Vehicle issuing various communicative signals

Signal category	Description	Probability of occurrence
		Attentive cooperative	Attentive punitive	Distracted cooperative	Distracted punitive
Implicit: acceleration	alters its velocity as appropriate	1	1	0.5	0.5
Explicit: attention e.g. eye contact	makes eye contact with	0.9	0.9	0.05	0.05
Explicit: intention e.g. gestures	issues a cooperative signal (if )	0.8	0.2	0.1	0.05
	issues a threatening signal (if )	0.1	0.8	0.05	0.1