Research Article
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 |
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