A New Hybrid Model Predictive Controller Design for Adaptive Cruise of Autonomous Electric Vehicles

Table 5

Parameters in the longitudinal dynamics controller design.

d	Relative longitudinal distance
	Desired longitudinal distance
	Longitudinal safety distance
	Critical longitudinal distance error
	Relative longitudinal speed
	Critical relative longitudinal speed
	Longitudinal speed of the following vehicle
	Longitudinal acceleration of the following vehicle
	Longitudinal acceleration of the leading vehicle
	Relative longitudinal acceleration
	Low bound of longitudinal distance error
	Upper bound of longitudinal distance error
	Low bound of relative longitudinal speed error
	Upper bound of relative longitudinal speed error
	Low bound of longitudinal acceleration
	Upper bound of longitudinal acceleration
	Desired cruising speed
	Sampling time
	Prediction time domain
	Control time domain
ε	Relaxation factor
ρ	Undetermined coefficient
	Number of the state variables
	Number of the control variables
	Low bound of difference of longitudinal acceleration between two adjacent sampling instants
	Upper bound of difference of longitudinal acceleration between two adjacent sampling instants