From the journal article: "GHM’s solution to regulate a yellow change interval first appeared in the 1965 ITE Traffic Engineering Handbook, and it has become k

From the journal article: "GHM’s solution to regulate a yellow change interval first appeared in the 1965 ITE Traffic Engineering Handbook, and it has become known as the kinematic equation. However, GHM’s solution is limited to vehicles traveling through level intersections at constant velocity, which does not include vehicle deceleration to execute safe turning maneuvers. This article presents a brief review covering GHM’s original solution and Mats Järlström’s extended kinematic equation which allows for vehicle deceleration and turning maneuvers."