Adaptive cruise control with stop&go function using the state-dependent nonlinear model predictive control approach

► The NMPC approach is used in the design of adaptive cruise control (ACC) system. ► The NMPC is developed based on the state-dependent state-space model of the system. ► The proposed method provides improvement to the speed and distance tracking. ► The NMPC methods offer smooth variation in brake and throttle controlling signals. ► Smooth throttle opening and brake actions result in a uniform vehicle acceleration.