velocity of the vehicles are the same and that the distance between the vehicles is to remain a constant as well. In order to achieve this, the follower vehicle continuously measures the distance between the vehicle in front with the help of a font-bumper mounted radar. Based on the estimated distance, î, the vehicle adjusts its controls to maintain a constant distance. The measurement by the radar can be modelled as z_{i}=x+w_{i} where z, denotes the measurement at time instant i, r denotes the true distance between thevehicles, and w; denotes the measurement noise that is assumed to be zero mean i.i.d. Gaussianwith standard deviation ơ.
Fig: 1
Fig: 2
Fig: 3
Fig: 4
Fig: 5