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Unified Control Design for Autonomous Vehicle 319

0.8

0.6

0.4
Acceleration (m/sec 2 ) – 0.2 0 Leading
0.2

– 0.4 l=1 m
l=2.5 m
l=4 m
– 0.6
l=5.5 m
– 0.8
0 5 10 15 20 25 30 35 40 45 50
Time (sec)
FIGURE 8.10 Vehicle acceleration ˙v for different values of l.

2.5

2

1.5
Velocity (m/sec) 1

0.5 Leading
l=1 m
l=2.5 m
0
l=4 m
l=5.5 m
– 0.5
0 5 10 15 20 25 30 35 40 45 50
Time (sec)

FIGURE 8.11 Vehicle velocity v for different values of l.

© 2006 by Taylor & Francis Group, LLC

FRANKL: “dk6033_c008” — 2006/3/31 — 16:43 — page 319 — #25