Model reference control approach for safe longitudinal control

We report a work done in the context of the ARCOS French program. We introduce a new inter-distance reference model that can be used in cruise control and stop-and-go scenarios. The proposed model is nonlinear and provides dynamic solutions which verify comfort and safety criteria simultaneously. The proposed reference model is based on a compliant model for contact, and has the particularity that its solutions can be described by explicit integral curves.