start
input vB(0) aB(0) P0PB(0)
input vA(0) aA(0) P0PA(0)
Generating aA
Generating aB
input vC(0) aC(0) P0PC(0)
Generating aC
input vD(0) aD(0) P0PD(0)
Generating aD
input vA(0) aA(0) P0PA(0)
Generating aE
Whether collided with D
YES
YES
Whether collided with A
NO
YES
Whether collided with C
NO
NO
END
output aA aB aC aD aE t
vehicle D
vB(t)
vB(0)
aB(0) P0PB(0)
vB(t)
aB(t) P0PB(t)
Lv
Ld vB(t) P0PB(t) P0PA(0) vA(0) aA(0)
P0PA(t) vA(t) aA(t)
vehicle A
vB(t) P0PB(t) P0PA(t) vA(t) P0PC(0) vC(0) aC(0) Lv
Ld
P0PC(t) vC(t) aC(t)
vehicle C
P0PB(t) P0PC(t)
vC(t) Lv
Ld aD(0)
P0PD(0) vD(0)
aD(t) P0PD(t) vD(t)
Vehicle B
Lv
Ld
PBP0 vB
PAP0(t)
vA(0) aA(0)
aA(t)
vehicle E
vB(t)
P0PE(t)
P0PB(t)
aE(t)
vE(0)
aA(t)
vE(t) Lv
Ld
t
intergrator(s)
– –
+ + –
derivative(df/dt)
+ –
derivative(df/dt)
+ +
+
+
intergrator(s)
PAP0(t)
intergrator(s)
vA(t)