abstract
mpc (model predictive control) techniques, with constraints, are applied to a nonlinear vehicle model
for the development of an acc (adaptive cruise control) system for transitional manoeuvres. the
dynamic model of the vehicle is developed in the continuous-time domain and captures the real dynamics
of the sub-vehicle models for steady-state and transient operations. a parametric study for the mpc
method is conducted to analyse the response of the acc vehicle for critical manoeuvres. the simulation
results show the significant sensitivity of the response of the vehicle model with acc to controller
parameter and comparisons are made with a previous study. furthermore, the approach adopted in
this work is believed to reflect the control actions taken by a real vehicle.
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