Fundamentals of the MPC approach to stop-and-go Adaptive Cruise Control

In this paper we review the fundamentals of Adaptive Cruise Control/Stop-and-Go systems based on model predictive control theory. Driver´s decisions can be formulated as few very general constraints, for which the mathematical expression is derived in depth. The resulting control system can adjust a car velocity to maintain an intervehicle security distance, avoid collisions, stop and eventually accelerate, and observe other considerations such as passengers´ comfort without human intervention.