Research Article
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 |
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