Relative view

FOLLOWER (ORIGINAL)
FOLLOWER (SMOOTHING)
LEADER A
Car color = its own current speed, 0–85 mph

Speed vs. time — follower, original vs. smoothing (QP)

Time (s)  ·  y-axis: speed (mph)
Follower (original)
Follower (smoothing, QP)

Time–space diagram — Lane 1 speed field with all three paths

Lane 1 speed field heatmap
Time (s)  ·  y-axis: space along corridor (mi)
Leader A (context)
Follower (original)
Follower (smoothing, QP)
0–85 mph

Controls

Trajectory pair
Playback
Simulation time0 s
Max gap δgap—
Leader A speed
—
Follower (smoothing) speed
—
Gap opened vs. follower (original)
—
Real gap to leader A
—