Table 1 Simulation parameters of the MPS model.

From: New control model for autonomous vehicles using integration of Model Predictive and Stanley based controllers

Parameter

Amount

Model

Simulation time

30 s

All

Reference velocity

30 km/h

All

Simulation time step

0.002

All

Input delay

0.05 s

All

Control Frequency

100 Hz

All

Steering limit

30 degrees

All

Steer rate

280 degrees

All

Steering steady state error

1 degree

All

Measurement noise

0.5 degree

MPS

Horizon steps

15

MPS

Look ahead distance

6 m

Pure Pursuit

KP

0.3

PID

KI

0

PID

KD

1.5

PID

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