Consideration of acceleration lag in lead vehicle to enhance host vehicle operation

A method for operating a host vehicle, comprising:

• obtaining, by processing circuitry of the host vehicle, a velocity of a lead vehicle and a gap g between the host vehicle and the lead vehicle, wherein the lead vehicle is traveling ahead of the host vehicle;
• computing a perceived acceleration of the lead vehicle based on a change in the velocity of the lead vehicle, wherein the perceived acceleration of the lead vehicle differs from an intended acceleration of the lead vehicle commanded by a driver or controller of the lead vehicle by a lag between the intended acceleration and a response of the lead vehicle to the intended acceleration;
• computing, using the processing circuitry, a corresponding desired acceleration for the host vehicle using the perceived acceleration of the lead vehicle to maintain the gap g within a specified range of gap values;
• computing, using the processing circuitry, a modified desired acceleration for the host vehicle using the desired acceleration for the host vehicle and the lag for the lead vehicle;
• controlling the host vehicle by implementing the modified desired acceleration at the host vehicle to maintain the gap g;
• and
• updating the lag for the lead vehicle based on a comparison of the actual gap resulting from implementing the modified desired acceleration and the gap g.