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Table 4 Root mean square (RMS) of vehicle states responding to measured vehicle speed

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 \(6.20 \times 10^{{ - 3}}\) \(2.23 \times 10^{{ - 3}}\)
Heading error \(4.72 \times 10^{{ - 4}}\) \(2.91 \times 10^{{ - 4}}\)
Yaw rate \(1.20 \times 10^{{ - 3}}\) \(2.83 \times 10^{{ - 4}}\)
Steering rate \(1.03 \times 10^{{ - 4}}\) \(9.92 \times 10^{{ - 5}}\)