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MPC (Model Predictive Control) techniques, with constraints, are applied to anonlinear vehicle model for the development of an ACC (Adaptive Cruise Control)system for transitional manoeuvres. The dynamic model of the vehicle isdeveloped in the continuous-time domain and captures the real dynamics of thesub-vehicle models for steady-state and transient operations. A parametricstudy for the MPC method is conducted to analyse the response of the ACCvehicle for critical manoeuvres. The simulation results show the significantsensitivity of the response of the vehicle model with ACC to controllerparameter and comparisons are made with a previous study. Furthermore, theapproach adopted in this work is believed to reflect the control actions takenby a real vehicle.

Parametric Study of Nonlinear Adaptive Cruise Control for a Road Vehicle Model by MPC