| Situation | Conditions of Attention Awakening | Conditions of Revising suggestion of driving operation |
| Intersection with a stop sign | “Approach notification” TTC to a stop line < 5 s | “Suggestion of speed reduction” TTC to a stop line < 3 s and Speed > 20 km/h |
| “Suggestion of direction of a safe confirmation” In an intersection, either left or right Face yaw angle was not detected for 1 s or more. | ||
| Pedestrian/ Parked car avoidance | “Approach notification” TTC to a pedestrian/parked car < 5 s | “Suggestion of speed reduction” TTC to a pedestrian/parked car < 3 s and Speed > 20 km/h |
| “Suggestion of direction of avoidance” TTC to a stop line < 3 s and Width to a pedestrian/parked car < 1.5 m |