Table 2.

The parameters of the MPC algorithm.

Parameter	Symbol	Value		Unit
Historical horizon	$p_h$	10		-
Prediction horizon	$p_p$	10		-
Relative distance, upper bound	$\overline{d}$	$25+0.7V_{f,k}$		m
Relative distance, lower bound	$\underset{\_}{d}$	10		m
Sampling time	$T_s$	0.5		s
Host vehicle’s velocity, upper bound	${\overline{V}}_h$	$V_{f,k}+5$		m/s
Upper bound on the relaxation variable of the distance	${\epsilon }_d$	0.5		m
Upper bound on the relaxation variable of the velocity	${\epsilon }_V$	0.3		m/s
Weights	${\varpi }_1$	${\varpi }_2$	${\varpi }_3$	${\varpi }_4$
	0.1	1	0.6	0.01