Table 2 Quantitative statistics of evaluation indicators.
From: A comparative study on trajectory tracking control methods for automated vehicles
Controller | Pavement adhesion coefficient | Maximum lateral error | RMSE of lateral error | Maximum heading error | RMSE of heading error | Maximum wheel angle | RMSE of wheel angle |
|---|---|---|---|---|---|---|---|
MPC | 0.35 | 0.0889 | 0.0321 | 0.0487 | 0.0188 | 7.2990 | 2.3907 |
0.5 | 0.0288 | 0.0112 | 0.0601 | 0.0208 | 5.7656 | 1.8351 | |
0.85 | 0.0398 | 0.0140 | 0.0578 | 0.0216 | 5.2248 | 1.7601 | |
NISMC | 0.35 | 0.1303 | 0.0376 | 0.0778 | 0.0256 | 22.2096 | 4.6745 |
0.5 | 0.0261 | 0.0093 | 0.0636 | 0.0210 | 8.7799 | 2.0991 | |
0.85 | 0.0275 | 0.0090 | 0.0630 | 0.0217 | 6.0981 | 1.8701 | |
LQR | 0.35 | 0.0658 | 0.0262 | 0.0585 | 0.0186 | 16.7242 | 3.3020 |
0.5 | 0.0762 | 0.0321 | 0.0487 | 0.0188 | 5.8943 | 1.7360 | |
0.85 | 0.0784 | 0.0334 | 0.0501 | 0.0199 | 5.0119 | 1.6907 |
