Research Article
A New Hybrid Model Predictive Controller Design for Adaptive Cruise of Autonomous Electric Vehicles
Table 11
Performance in the following condition.
| | Following condition | | MPC_Quadprog | MPC_SDNN | Switch | Incremental PID |
| | Average speed error (absolute value) (km/h) | 0.4451 | 0.4452 | 0.4452 | 0.0395 | | Root-mean-square of speed error | 1.5053 | 1.7238 | 3.1719 | 0.3022 | | Average distance error (absolute value) (m) | 0.5536 | 0.3876 | 0.3781 | 4.2940 | | Root-mean-square of distance error | 1.8286 | 1.4706 | 1.0700 | 6.0736 | | Simulation time (s) | 4101.5622 | 3125.1653 | 2960.1980 | 2741.1237 |
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