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Table 6 Results of simulation experiment and real vehicle experiment

From: Parallel Distributed Compensation /H Control of Lane-keeping System Based on the Takagi-Sugeno Fuzzy Model

Evaluation Simulation Real vehicle
Compensation Compensation
No Yes No Yes
Deviation peak (m) 0.218 0.183 0.2901 0.2714
Deviation square root 0.02496 0.02115 0.0249 0.0212
|G(s)| 29.79 23.84 51.57 47.32