Model-Based Control Design and Integration of Cyberphysical Systems: An Adaptive Cruise Control Case Study

Table 1

Parameters for the longitudinal vehicle dynamics.

Parameter	Definition
𝛽	Lumped inertia
𝐹𝑎	Aerodynamic drag force
𝑇𝑒	Net engine torque
𝑇𝑏	Brake torque
𝑅𝑔	Gear ratio
𝑀rr	Rolling resistance moments
ℎ	Effective wheel radius
𝑚	Total curb mass of the vehicle
𝐽𝑒	Inertia of engine
𝐽𝑤𝑟	Inertia of rear axle
𝐽𝑤𝑓	Inertia of front axle
𝐶𝑎	Aerodynamic drag coefficient
𝑣	Velocity of the vehicle
𝑎	Acceleration of vehicle
𝜃	Inclination angle of the road
𝑔	Gravitational acceleration