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This rapidly decreases the following distance when the lead pulls away, resulting in an early demand for acceleration. This is helpful because the MPC often stops ~4m behind the lead. Meaning the lead has to move ~2m before the MPC even considers requesting acceleration. The offset is capped at half the total Stop_Distance, is linearly proportional to the speed differential between ego and lead, requires the lead to be traveling faster than Ego, and tapers away to 0 at 10m/s, all for safety and comfort.
If not clipped, it can go negative at higher speeds causing more distance. Also if tapering is not last, then there can be a clip-like transition.
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