RT is the most influential variable on the collision occurrence; and with one second of brake RT increase, the RLR collision likelihood would increase by 13.15 times.
RLR-CWS can significantly reduce drivers’ brake RT and collision occurrence rate.
Early warning is more effective than late warning in terms of both brake RT and collision rate but the late warning also can lower the collision rate.
There is no significant difference in reducing drivers’ RT between the directional and undirectional warning information.