Adaptive vehicle following algorithm based on improved model prediction control

The invention relates to an adaptive vehicle following algorithm based on improved model prediction control. The algorithm comprises the steps that 1, a vehicle following model is established, whereina controller of an adaptive cruise control system is divided into an upper-layer controller and a lower-layer controller for control, the upper-layer controller calculates expected acceleration according to received information of a relative distance and a relative velocity and transmits the acceleration to the lower-layer controller, and the lower-layer controller controls throttle opening and brake pressure according to a vehicle inverse longitudinal dynamic model through the acceleration; and 2, an algorithm based on model prediction control is established, wherein an estimator is constructed, a least square method is adopted to fit out a most approximate straight line by use of values of previous moments, values of future moments are estimated, and finally a model prediction algorithmis utilized to calculate