z行驶距离2:s2=lz2 k max z2行驶距离s2:s2=l0z 6 max du=kz→|du=「krlz dt →l=10+kz2a.x 0 +-kT g t T1 105/10 "2 0 2 0 "2 max 2 " 0 2 " 2 " 2 " 2 2 2 2 0 2 2 1 2 1 6 1 : :           u u k u u k k du k d dt du s s u x s s u e = +  = + =  = = −    =    行驶距离  行驶距离 1  ' 1  " 1  2  a 4  " 2  ' 2  Fp j t Fp b c d e f g 0 3  j