Before revision:  and existing CAV controllers do not assess intents of the follower non-CAVs  . Based on our simulation study, the situation-aware CAV controller module reduces 40 \% of the abrupt braking of the follower non-CAVs for the scenario of 600 vphpl on the opposing through movement , compared to the base scenario with the autonomous vehicle without considering intents of the follower vehicles .
After revision:  and existing CAV controllers do not assess intents of the follower non-CAVs . Based on our simulation study, the situation-aware CAV controller module reduces 40 \% of the abrupt braking of the follower non-CAVs for scenarios with different opposing through movement , compared to the base scenario with the autonomous vehicle without considering intents of the follower vehicles .