| Situation | Parameter | No Messages | With Messages | |||||||||
| Helly’s Parametersa (a) | Self-Calibration (b) | Helly’s Parameters (c) | Self-Calibration (d) | Parametersb (e) | Calibrated θ and C1a (f) | |||||||
| Deceleration | Sample size | 40 | 40 | |||||||||
| C1 | 0.50 | 1.17 | 0.50 | 0.01 | 1.17 | 0.48 | ||||||
| C2 | 0.13 | 0.04 | 0.13 | 7.40E−04 | 0.04 | 0.04 | ||||||
| α | 20.00 | 1.83 | 20.00 | 1.53 | 1.83 | 1.83 | ||||||
| β | 1.00 | −0.02 | 1.00 | −0.06 | −0.02 | −0.02 | ||||||
| γ | 0.00 | −0.11 | 0.00 | −0.14 | −0.11 | −0.11 | ||||||
| θ | N/A | 0.12 | ||||||||||
| NRMSE | 41.0% | 14.3% | 112.6% | 8.6% | 341.9% | 11.98% | ||||||
| R | 0.08 | 0.83 | 0.46 | 0.90 | 0.51 | 0.83 | ||||||
| p-value | N/A | 1.70E−08 | N/A | 1.64E−12 | N/A | 3.78E−07 | ||||||
| Acceleration | Sample Size | 60 | 30 | |||||||||
| C1 | 0.50 | 0.69 | 0.50 | 0.10 | 0.69 | 0.37 | ||||||
| C2 | 0.13 | −0.01 | 0.13 | −0.01 | −0.01 | −0.01 | ||||||
| α | 20.00 | −0.23 | 20.00 | −0.45 | −0.19 | −0.23 | ||||||
| β | 1.00 | −6.20E−03 | 1.00 | −0.01 | −0.01 | −6.20E−03 | ||||||
| γ | 0.00 | 0.02 | 0.00 | −0.03 | 0.02 | 0.02 | ||||||
| θ | N/A | 0.37 | ||||||||||
| NRMSE | 54.4% | 5.1% | 181.0% | 8.6% | 179.7% | 9.05% | ||||||
| R | 0.45 | 0.98 | 0.13 | 0.94 | 0.79 | 0.93 | ||||||
| p-value | N/A | 1.99E−36 | N/A | 5.18E−11 | N/A | 6.17E−14 | ||||||