Table 2 Root mean square (RMS) of vehicle states responding to given road curvature
Vehicle state | Type-1 controller | Type-2 controller |
|---|---|---|
Lateral offset | \(8.61 \times 10^{{{ - }3}}\) | \(4.60 \times 10^{{{ - }3}}\) |
Heading error | \(1.06 \times 10^{{{ - }3}}\) | \(1.05 \times 10^{{{ - }3}}\) |
Yaw rate | \(1.24 \times 10^{{{ - }3}}\) | \(2.60 \times 10^{{ - 4}}\) |
Steering rate | \(2.64 \times 10^{{{ - }3}}\) | \(1.29 \times 10^{{{ - }3}}\) |