Autonomous vehicle longitudinal following control based on model predictive control

• Published in: 2015 34th Chinese Control Conference (CCC) pp. 8126 - 8131
• Main Authors: Qiu, Wang, Ting, Qu, Shuyou, Yu, Hongyan, Guo, Hong, Chen
• Format: Conference Proceeding Journal Article
• Language: English
• Published: Technical Committee on Control Theory, Chinese Association of Automation 01.07.2015
• Subjects: Acceleration; Autonomous; Computer simulation; Control systems; Controllers; Disturbances; Dynamics; Longitudinal Following; Mathematical model; Mathematical models; Model Predictive Control(MPC); Predictive control; Reject Disturbance; Roads; Vehicle dynamics; Vehicles

In this paper, an approach to control the longitudinal motion as well as reject disturbance of a platoon of autonomous vehicles is presented. Firstly, we consider the longitudinal acceleration and velocity of the leading vehicle as disturbance, and establish a model which describes the longitudinal...