Maintaining a range of a gap between an ego vehicle and a preceding vehicle

A method, comprising:

• determining, by a processor, a time, during a deceleration phase or an acceleration phase of a stop-and-go cycle of a preceding vehicle, when a preceding vehicle speed will equal a desired speed of an ego vehicle;
• determining, by the processor, in response to the time being during:
• the deceleration phase, that a gap, between the preceding vehicle and the ego vehicle, will be smaller than a desired maximum gap, or
• the acceleration phase, that the gap will be larger than a desired minimum gap;
• and
• changing, by the processor, an ego vehicle speed to correct the gap.

A non-transitory computer-readable medium for maintaining a range of a gap between an ego vehicle and a preceding vehicle, the non-transitory computer-readable medium including instructions that, when executed by one or more processors, cause the one or more processors to:

• determine a time, during a deceleration phase or an acceleration phase of a stop-and-go cycle of a preceding vehicle, when a preceding vehicle speed will equal a desired speed of an ego vehicle;
• determine, in response to the time being during:
• the deceleration phase, that a gap, between the preceding vehicle and the ego vehicle, will be smaller than a desired maximum gap, or
• the acceleration phase, that the gap will be larger than a desired minimum gap;
• and
• change an ego vehicle speed to correct the gap.