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

Table 18

Performance in the curved-road condition.

Curved-road condition
	MPC_Quadprog	MPC_SDNN
Average longitudinal speed error (absolute value) (km/h)	0.6477	0.5728
Root-mean-square of longitudinal speed error	0.6605	0.5841
Average error of lateral motion (absolute value) (m)	0.0674	0.0272
Root-mean-square of error of lateral motion	0.0800	0.0382
Average error of yaw angle (absolute value) (rad)	0.0061	0.0018
Root-mean-square of error of yaw angle	0.0069	0.0025
Simulation time (s)	365.2265	304.2355