Cruise control of a two-wheeled vehicle based on MPC to predict the trajectory of a preceding vehicle

This paper proposes model predictive control (MPC)-based cruise control method. A two-wheeled vehicle is a nonlinear system with nonholonomic constraints. Therefore, a large number of computations is required for optimization-based control. Most conventional studies have assumed that the leader vehicle runs along a predefined trajectory. In the proposed method, available control inputs are restricted to a finite set in order to realize a long prediction horizon. The leader vehicle selects one of the candidate target points, and the follower estimates the target and predicts the trajectory of the leader. Simulations are conducted in order to verify the usefulness of the proposed method.