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

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

\(1.03 \times 10^{{ - 4}}\)

\(9.92 \times 10^{{ - 5}}\)