PaTAVTT: A Hardware-in-the-Loop Scaled Platform for Testing Autonomous Vehicle Trajectory Tracking

Figure 7

U-turn trajectory tracking results based on MPC. (a) The simulation trajectory tracking results based on MPC under different vehicle speed conditions. (b) Longitudinal speed error (vehicle speed = 8.44 m/s). (c) Yaw angle of the trajectory (vehicle speed = 8.44 m/s). (d) Longitudinal position error (vehicle speed = 8.44 m/s). (e) Lateral position error (vehicle speed = 8.44 m/s).

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