  Automated vehicles can change the society by improved safety, mobility and
fuel efficiency. However, due to the higher cost and change in business model,
over the coming decades, the highly automated vehicles likely will continue to
interact with many human-driven vehicles. In the past, the control/design of
the highly automated (robotic) vehicles mainly considers safety and efficiency
but failed to address the "driving culture" of surrounding human-driven
vehicles. Thus, the robotic vehicles may demonstrate behaviors very different
from other vehicles. We study this "driving etiquette" problem in this paper.
As the first step, we report the key behavior parameters of human driven
vehicles derived from a large naturalistic driving database. The results can be
used to guide future algorithm design of highly automated vehicles or to
develop realistic human-driven vehicle behavior model in simulations.
