Parameters:

a_lead = -2
T_gap = 1.4
D_default = 10

Initial states:
x_lead = x(1) = [90, 110]
v_lead = x(2) = [32, 32.2]
γ_lead = x(3) = 0
x_ego  = x(4) = [10, 11]
v_ego  = x(5) = [30, 30.2]
γ_ego  = x(6) = 0

t = 5 seconds
control period = 0.1 s

Safety Property:

x_lead - x_ego >= D_safe, where D_safe = D_default + T_gap * v_ego;
 
