InputB InputC InputA
x yi d
Good GoodGood Very GoodVery Good Good Very GoodVery Good Good v ref ref d ref
now ref now m m km/h d ref v ref ref d d
secsec sec sec sec km/h km/ h deg sec
Graduate School of Systems and information Engineering, University of Tsukuba 1 1 1, Tennoudai, Tsukuba shi, Ibaraki 305 8573, JAPAN