Application of the state-dependent nonlinear model predictive control in adaptive cruise control system

In this paper the Nonlinear Model Predictive Control (NMPC) is applied in adaptive cruise control (ACC) system. State-dependent algorithm, as an approach to control the brake and throttle opening position is proposed. Two linear time invariant (LTI) discrete-time state space models, corresponding to modes of operation: accelerating - the throttle is active and braking - the brake is active, have been extracted from the full non-linear model of the vehicle and the power train. Those models are used to design the NMPC controller. From this prospective, a single but state-dependent MPC can be utilized in controlling the throttle and brake position which provides an easy approach to the control design process. The design is implemented in simulation environment to test its performance. Finally, a comparison between the application of two control methods including state-dependent NMPC and Linear Quadratic Control (LQC) are presented.