Fixed Acceleration/Deceleration rate description

The previous description mistakenly stated that it was in units/second,
which was the original plan but not what I ended up doing.

Reformatted AutonomousVehicle to fit the standard.
Standardized formatting

Sorry for the massive commit of mostly whitespace changes, but I can't
stand having non-standard formatting across all files.  I'd held back on
doing it to minimize the file changes on across minor 2.x releases, but
have got to bite the bullet at some point.