1. Modeling - The Cab Control Problem
A block diagram of the overall approach might look like:
Cab
Following
Algorithm
position of cab A
position of cab B
position difference
between cabs
velocity of cab A
velocity of cab B
velocity difference
between cabs
acceleration of cab B

2. Modeling - The Cab Control Problem
Task #2 - Determining the form of the safe distance
algorithm B A
(xn - yn) vn un yn xn

3. Modeling #5 - The Cab Control Problem
One possible safe distance algorithm is this:
apply max acceleration
leave speed unchanged
apply max deceleration
The “safe distance”

4. Modeling #5 - The Cab Control Probleman
amax
(xn- yn) > D
(xn- yn) - D
(xn- yn) < D
-dmax

5. Modeling - The Cab Control Problem
Any possible problems with this first
approach to the safe distance algorithm?

6. Modeling #5 - The Cab Control Probleman
amax
slope = k1
(xn- yn) - D
-dmax

7. Modeling #5 - The Cab Control Problem
A better safe distance algorithm is this: so

8. Modeling - The Cab Control Problem
Think of a strategy to find: D
amax
-dmax k1