Research Article
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 |
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