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Table 2 Heading deviation fuzzy rules for weight ratio

From: Adaptive Coordinated Path Tracking Control Strategy for Autonomous Vehicles with Direct Yaw Moment Control

Qθ Ie
ZO PSr PS PB PBr
Iθ ZO ZO PS PS PM PB
PSr ZO PS PS PM PB
PS ZO PS PS PM PB
PB ZO PS PS PM PB
PBr ZO PS PS PM PB