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Table 5 Infinite norm 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 \(3.35 \times 10^{{ - 2}}\) \(1.34 \times 10^{{ - 2}}\)
Heading error \(2.19 \times 10^{{ - 3}}\) \(2.22 \times 10^{{ - 3}}\)
Yaw rate \(1.12 \times 10^{{ - 2}}\) \(2.72 \times 10^{{ - 3}}\)
Steering rate \(2.83 \times 10^{{ - 3}}\) \(2.38 \times 10^{{ - 3}}\)