Vehicle codes require that a driver entering an intersection should yield right-of-way if an approaching vehicle is close enough to be an immediate hazard. This paper discusses a framework for contributions from human factors and vehicle kinematics to right-of-way questions, based on defining immediate hazard as a situation requiring an aggressive avoidance maneuver. A variety of issues that arise can be addressed with existing technical literature, while others suggest a role for further empirical research. Quantitative analyses reveal the relative importance of factors such as distance perception, response latency and initial speed.
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