Parametric Study of Nonlinear Adaptive Cruise Control Vehicle Model by Vehicle Mass

A parametric study of a vehicle following control law, based on the model predictive control method, to perform the transition maneuvers for a nonlinear adaptive cruise control vehicle is presented in this paper. The vehicle dynamic model is based on the continuous-time domain and simulates the real dynamics of the sub-vehicle models for steady-state and transient operations. The nonlinear vehicle has been analyzed for different masses of the vehicle and the simulation results show that the proposed model predictive controller can be used for a wide range of adaptive cruise control vehicles and can execute the transition maneuver successfully in the presence of complex dynamics within the constraint boundaries.