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

Table 9

Peaks of acceleration errors [m/s²].

	PID			ANFIS			MPC
	Sim	Real	Error	Sim	Real	Error	Sim	Real	Error
Step  1	1.20	1.14	0.06	1.05	0.92	0.13	1.17	1.16	0.01
Step  2	0.80	0.92	0.12	1.14	1.22	0.08	0.91	1.22	0.31
Step  3	0.99	1.03	0.04	1.22	1.28	0.06	1.00	1.26	0.26
Step  4	1.13	1.16	0.03	1.06	0.96	0.10	1.14	1.04	0.1
Step  5	0.94	1.17	0.23	1.15	1.21	0.06	0.92	1.38	0.54
Step  6	1.14	1.23	0.09	1.05	1.05	0.00	1.13	1.12	0.01
Step  7	1.40	1.34	0.06	1.25	1.20	0.05	1.25	1.79	0.54
Step  8	1.90	2.00	0.1	1.32	1.27	0.05	1.48	1.98	0.50