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Table 2 Root mean square (RMS) of vehicle states responding to given road curvature

From: A Type-2 Fuzzy Approach to Driver-Automation Shared Driving Lane Keeping Control of Semi-Autonomous Vehicles Under Imprecise Premise Variable

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 \(2.64 \times 10^{{{ - }3}}\) \(1.29 \times 10^{{{ - }3}}\)