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  • For example, if the curve is a portion of an ellipse: dLP=arclength(LP, B's vehicleLP x ES, areaLPx)+D SP to ES [0585] The time for vehicle B to travel the distance from vehicleLP at start to vehicleLP at areaLP (tLP) may then be estimated 9307 from the initial velocity, acceleration, and maximum curvature velocity.
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