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.


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    Titel :

    Model predictive control with constraints for a nonlinear adaptive cruise control vehicle model in transition manoeuvres


    Beteiligte:
    Ali, Zeeshan (Autor:in) / Popov, Atanas A. (Autor:in) / Charles, Guy (Autor:in)

    Erschienen in:

    Vehicle System Dynamics ; 51 , 6 ; 943-963


    Erscheinungsdatum :

    2013-06-01


    Format / Umfang :

    21 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch