Page - (000021) - in Integration of Advanced Driver Assistance Systems on Full-Vehicle Level - Parametrization of an Adaptive Cruise Control System Based on Test Drives

Symbols ρ phase angle σ standard deviation τ time gap, propagation time ϕ azimuth angle ψ heading angle ω rotational speed Vectors and Matrices 0 zero matrix A system matrix b input vector c output vector C output matrix e error-state vector F system matrix at MPC I identity matrix L observer gain n normal vector p direction vector, position vector R weight matrix s position vector T coordinate system transformation matrix U plant input vector at MPC v speed vector x state vector y output quantity Y output quantity at MPC Φ input vector at MPC Indices 0 initial condition ∞ infinity a air drag AW anti-windup b brake, best B vehicle body c controlled CG centre of gravity d drive train xix