Table 4.

The probability of the driving status of each lane-changing stage (unit: %).

	Psafe	Pdangerous	Ps-s	Ps-d	Pd-s	Pd-d
Car following	93.72	6.28	90.35	9.65	46.76	53.24
Perception	87.40	22.60	81.64	18.36	35.99	64.01
Intention	67.04	32.96	62.14	37.86	11.69	88.31
Execution	73.47	26.53	69.93	30.07	21.34	78.66
All	85.84	14.16	75.29	24.71	25.37	74.63