A New Hybrid Model Predictive Controller Design for Adaptive Cruise of Autonomous Electric Vehicles

Table 15

Performance in the cruising condition.

Cruising condition
	PID based on SN	Switch	Incremental PID
Average speed error (absolute value) (km/h)	1.3503	2.0122	1.4666
Root-mean-square of speed error	6.3549	7.7642	6.3947