“…But in other scenarios, to determine the degree of the importance of DENM/DENM+, the IVD (m) and the speed range, V (km/h), are two main factors for fuzzy inputs that are investigated in follows. The classified ranges for IVD and V are based on Table 1, 32 and as shown in Figure 5, in a single direction scenario, the IVD is classified into four ranges (i.e., IVD ≤ 24.4 (M), IVD ≤ 48.8 (M), IVD ≤ 73.3 (M), and IVD > 73.3), and the vehicle speed is separated into four ranges (i.e., V ≤ 40 (km/h), V ≤ 80 (km/h), V ≤ 120 (km/h), and V > 120 (km/h)) accordingly. If the speed of the host vehicle is between 0 and 40 km/h and the spatial distance between the host and the next vehicle is more than 24.4 m, FIS 2 determines the degree of the importance of received DENMs/DENMs+.…”