Table 3.

ACC System Constraints.

Constraint Name	Constraint Expressions
Safety	$\Delta s\left(k\right)\ge \Delta s_0$
Following	$\delta \left(k\right)\to 0,v_{rel}\left(k\right)\to 0,when(k\to \infty$)
Comfortability	$j_{Cmin}\le j_C\left(k\right)\le j_{Cmax}$
Velocity restraints	$v_{min}\le v\left(k\right)\le v_{max}$
Control variable constraint	$u_{min}\le u\left(k\right)\le u_{max}$