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Denivafion a Caitical Posting Modol GLENNOn

thet
This model based on
ehypothatit a

duningthe passin maneuvr

Csitico posihon exist
pasig sight dstonte e9uino mamts
whene
Sama
Complate a abont pas oill paovide
ethun
ve hicle a Loil
head. om cleanonCe Opposite all
Tf da w
decisiomn to abont H pas righi dut(fe
Se Cnihicel
(a) C5) This f'sune A4 Critil sepeuho
and
yeu pasing
impedira eh, ft
mut| ive
v One mmk C: cleenend
and mpe dinael
possing
ot end d pat, it

Clposthon Sc G: cleenona b
G passina and impedin
Cpeti p a s sv
i eh
beh
and o endatpep
L p lengh poig veh
i m p
d e
h e

VE
Iped
lengh 4 Impediq vd
V Derign peud, sped4
t pagin oprosik wh
tt/See
Mditt in speed b/w
-Elaprled time
(ie c)> Postin impediy veh

Tme-Spoe diaom
Hu Cnitil d Decelanation eale
Hgune1 passi momeuven pogti veh Abonhen
stsee
CaihCal
t time snom
position to end d
Sao
1(o).Diagnen t Complude! pop! Jne Compated pets sec
Fia Chicel poshon
Crihiel
Time Jaorn
l
Dingum
abonted per1 Snom posthion to end
Fi3 2() Cnihicel potihion. aboted poytays
one Cecomo bol
PeophoM Reacho,
 FA e a n ualion, Chay Shanld Juar

alunkaiay f - aouida

dinpnam ba bom he Cornplaed

iguu 1 showf tim-spa mak
mane uve
Jaom t
mantuVeN and h abonded
poctig
pa ssi
passin

Cnihol posihon whene

pDsle bonthon wi
PsDcae brplehon nly

mode assumey htf

uleni
s
Ppotin vel?
oppoting
vel trsvely
ve vel
The mode to
otign spe
det sea.
veh acelerekes
actelenetes

detign Speed, , het de passejn a

Cnehicel posihon and Contino
at bel-5u ta
i abonted, and t
uney h part
thet speed Conshon
Speed a Son
veh dnevely
desig pee
Ly hon
inCnement

posihor
() Eguole nitial i
Cniticol posiion b51 the Complaled pesf
shoun m fiua 1(a) y

Atve p t t (V-m)t,
Lp t -mt,|
it
Critial posihion b la abonkd pegs

shotdn Fige (b)

Thusuahn dt (v-m) +(vm) tp G-L
-

vh,-
SharldCnedy
l +v+e mal
Cnety
A t V t vez
.
2

dt
- dt V - m t Ve, -mb 6 L

llaw Ade2

Tho ape A a1)-6-L, - G-L,

 (3

Smce by dehinihon Ac A eguehion

0 0
Can be Solved simulHoneoutly b3t, a brllouw

p +G- mt, - m- m t, - G-L

2

CLulal
This
Lp t t mtmtz + t L, - nt

Lpt 2tm (14 tn)t

2 m

tti
dt,2
dt; (26+L, t
2 m

Cnihices slsh diitoncep

Epuode
The Caih pSD each manuven i s dakem

fasm fi'so 1 ag tof. distone b

diaactl whom . pasinvehieh
veh
pas
and

Opposin
i i n ha Cnhial posihon

Eguehig ese dutonay and oui batgd

2v t c Vt vtdt +c t vlt +)
v (tt) - dt4 v(t,+1)

2V

v(Itt)- dt
2V

dt
t, t
 Solve time nelahion hips

Egueke Eguahion

- 1-dt2m 2 Ym T
2att(t,td
d (v-m)

dt 2at L+L
2m m

dm-2dy
Vm m

2tLtLp uv
dm-2v

v 2at LtLp)
d(2v-mn)

SMu

1+v24 L, tLp) Sa4tL,t)

d(ev-m) v - m ) . 4v

Hv(24+ L,tLp)
It d(2V-m) 2v-m
 Solve h CnihiCol potihio

A Lp +G -

mt

O
p t G- m 14 4v241,tL
d (ev-)
GtLtr|-20
(2-m)

haase 1 set aG
sSume minimum acce phobl
Gm thon Euebion ( beComef

2 m tLt Lp qv(2m+y tP)

2V m
dC2v-m

4 Caihal po Sigh lshonte

(Solve
4 Euehion 4 he PSD S
Use Figne 1

Sc 2vk tc pth-A

Sc C2V Lt-Ac m

2V
INe assumed hat Gm. C

2t-c
Se2v
m