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      AASHTO ITE   AASHTO: American Association of State Highway Traffic Officials  
    Perception Time (s)   ITE: Institute of Traffic Engineers  
    Decleration (m/s2)  
     
      Speed Limit   AASHTO ITE   AASHTO AASHTO AASHTO Safe AASHTO Safe   ITE ITE ITE Safe ITE Safe  
      (km/h) Grade (%) Yellow Duration (s) Yellow Duration (s)   Braking Time (s) Stopping Time (s) Braking Distance (m) Stopping Distance (m)   Braking Time (s) Stopping Time (s) Braking Distance (m) Stopping Distance (m)  
     
           
           
           
           
           
           
           
           
           
           
           
           
           
           
           
           
           
           
           
           
           
           
    Notes:  
     
    1. Grade = rise/run * 100.0. Grade is a percent. Positive grades are inclines. Negative grades are declines.  
    2. The yellow duration is always the peception time + half the time it takes for a car to brake. Note that you can never stop your car within the time the light is yellow.  
    3. This spreadsheet uses ITE's equation for yellow light durations. The equation embeds Newton's Laws of Motion. Therefore by the laws of the universe, no yellow light duration can be set less than these values. If less, then the yellow duration is illegal by the Canute Rule.  
    4. ITE's equation does not handle grades greater or less than 10 percent. It does not work in hilly places like San Francisco. This is because ITE's equation invokes small angle approximation formulae.  
    5. ITE's equation does not handle slippery roads. ITE's equation does not handle coefficients of friction.  
    6. These values apply to all lanes on the road. Many towns set their left turn yellow duration shorter than these values, but that is illegal since Newton's Laws of Motion apply everywhere in the universe, even to left lanes.  
    7. Even with properly set yellow durations, ITE's equation always creates a dilemma zone which guarantees a steady flow of cars running red lights. See Dilemma Zone, http://redlightrobber.com.  
    8. See http://redlightrobber.com for details on ITE's Derivation of the Yellow Light Interval Equation.  
     
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