 The stochastic human-controlled vehicle (HV) motions were modeled based on 1.3 million miles of naturalistic driving data collected by the University of Michigan Safety Pilot Model Deployment Program.
<fluency>  The stochastic human-controlled vehicle (HV) motions were modeled based on 1.3 million miles of naturalistic driving data collected by the University of Michigan Safety Pilot Model Deployment Program.
 The stochastic human-controlled vehicle (HV) motions are modeled based on 1.3 million miles of naturalistic driving data collected by the University of Michigan Safety Pilot Model Deployment Program.