Low Speed Longitudinal Control Algorithms for Automated Vehicles in Simulation and Real Platforms

Table 8

Acceleration errors [m/s²].

	Acceleration avg			Acceleration median			Acceleration RMS
	Sim	Real	Error	Sim	Real	Error	Sim	Real	Error
PID	0.279	0.276	0.003	0.038	0.070	0.032	0.502	0.480	0.022
ANFIS	0.282	0.273	0.009	0.049	0.070	0.021	0.486	0.442	0.044
MPC	0.278	0.286	0.08	0.083	0.100	0.017	0.471	0.495	0.024