TCDHTraffic Control Device Handbook (Institute of Transportation Engineers)
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The TCDH goes on to suggest that the yellow change interval be equal to the first two terms of the equation rounded up to the next 1/2 sec, but no less than 3 sec and no greater than 5 sec.
Table 4 shows the recommended speed of each curve based on the ball-bank indicator criteria and nomograph in the TCDH, which is based on the standard curve speed formula with a friction factor of 0.16.
Figure 4 shows the friction factor corresponding to the 50th and 85th percentile speeds of each curve computed from the standard curve speed formula in the TCDH and AASHTO design guide.