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. 2011 Jan 11;11(1):661–673. doi: 10.3390/s110100661

Figure 9.

Figure 9.

Results of a tracking maneuver performed with the proposed control system. (a) Distance measured with the ultrasonic system. (b) Vehicle speeds extracted from the CAN bus. (c) Relative speed unfiltered and filtered. (d) Actuating signal unfiltered and filtered.