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Table 3 Infinite norm 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 \(3.13 \times 10^{{ - 2}}\) \(1.30 \times 10^{{ - 2}}\)
Heading error \(4.22 \times 10^{{{ - }3}}\) \(3.09 \times 10^{{{ - }3}}\)
Yaw rate \(1.02 \times 10^{{ - 2}}\) \(2.03 \times 10^{{{ - }3}}\)
Steering rate \(2.17 \times 10^{{ - 2}}\) \(1.10 \times 10^{{ - 2}}\)