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

TL;DR

This paper investigates the use of Model Predictive Control (MPC) for nonlinear adaptive cruise control in vehicles, analyzing how controller parameters affect response during critical maneuvers through simulations.

Contribution

It presents a parametric study of MPC-based ACC for nonlinear vehicle models, highlighting the sensitivity of vehicle response to controller parameters and reflecting real vehicle control actions.

Findings

Vehicle response is highly sensitive to MPC parameters.

Simulations demonstrate effective ACC performance during critical maneuvers.

Comparison with previous studies validates the approach.

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.