Analysis of nonlinear adaptive cruise control vehicle model during cut-in manoeuvre

摘要

A parametric study of a vehicle following control law, based on the model predictive control method, to perform the transition manoeuvres 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 ACC vehicle has been analysed during a cut-in manoeuvre, i.e., when another vehicle comes in between the ACC and preceding vehicles during vehicle-following operation. The simulation results show that the proposed model predictive controller can be used for the similar critical scenarios and can execute the transition manoeuvre successfully in the presence of complex dynamics within the constraint boundaries.