Table 1.

The notations of the terms.

v̅	The average velocity of the historical trajectory
N	The number of time index that contribute to v̅
k	The time index that BSN crosses the boundary
i	The time index
vi	The velocity of BSN at time index i
si	The position prediction of BSN at time index i
ai	The acceleration of BSN at time index i
${\sigma }_a^2$	The variance of acceleration extracted from historical trajectory
T	The time interval between two position predictions
$$\widehat{s_i}$$	The expectation of si
τ	The prediction period