A vehicle following control law, based on the model predictive control method, to perform transition manoeuvres (TMs) for a nonlinear adaptive cruise control (ACC) vehicle is presented in this paper. The TM controller ultimately establishes a steady-state following distance behind a preceding vehicle to avoid collision, keeping account of acceleration limits, safe distance, and state constraints. The vehicle dynamics model is for continuous-time domain and captures the real dynamics of the sub-vehicle models for steady-state and transient operations. The ACC vehicle can execute the TM successfully and achieves a steady-state in the presence of complex dynamics within the constraint boundaries.
Model predictive control with constraints for a nonlinear adaptive cruise control vehicle model in transition manoeuvres
Vehicle System Dynamics ; 51 , 6 ; 943-963
2013-06-01
21 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
On the Robustness of Adaptive Nonlinear Model Predictive Cruise Control
SAE Technical Papers | 2018
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