Study of Model Predictive Control for Path-Following Autonomous Ground Vehicle Control under Crosswind Effect

Table 6

Path following tracking errors with road friction surface μ = 0.1.

Vehicle speed	Manoeuvre control	Controller 2DoF		Controller 3DoF
		[m]	[rad]	[m]	[rad]
10	2WS	0.0874	0.0115	0.0841	0.0104
	4WS	0.0838	0.0109	0.0832	0.0094
	2WS + DYC	0.0838	0.0110	0.0835	0.0083
30	2WS	Uncontrolled	Uncontrolled	2.1352	0.5264
	4WS	Uncontrolled	Uncontrolled	0.8824	0.2982
	2WS + DYC	Uncontrolled	Uncontrolled	0.9964	0.4580