  MPC (Model Predictive Control) techniques, with constraints, are applied to a
nonlinear vehicle model for the development of an ACC (Adaptive Cruise Control)
system for transitional manoeuvres. The dynamic model of the vehicle is
developed in the continuous-time domain and captures the real dynamics of the
sub-vehicle models for steady-state and transient operations. A parametric
study for the MPC method is conducted to analyse the response of the ACC
vehicle for critical manoeuvres. The simulation results show the significant
sensitivity of the response of the vehicle model with ACC to controller
parameter and comparisons are made with a previous study. Furthermore, the
approach adopted in this work is believed to reflect the control actions taken
by a real vehicle.
