Table 3 Six-dimensional index rating table.
From: A comparative study on trajectory tracking control methods for automated vehicles
Controller | Maximum lateral displacement error | RMSE of lateral displacement error | Maximum heading error | RMSE of heading error | Maximum wheel angle | RMSE of wheel angle |
|---|---|---|---|---|---|---|
MPC | 7.40 | 8.16 | 10.00 | 9.89 | 10.00 | 10.00 |
NISMC | 5.05 | 6.97 | 6.26 | 7.27 | 3.29 | 5.12 |
LQR | 10.00 | 10.00 | 8.32 | 10.00 | 4.37 | 7.24 |
