Study of Model Predictive Control for Path-Following Autonomous Ground Vehicle Control under Crosswind Effect

Table 5

Path following tracking errors with road friction surface μ = 0.7.

Vehicle speed	Manoeuvre control	Controller 2DoF		Controller 3DoF
		[m]	[rad]	[m]	[rad]
10	2WS	0.0637	0.0085	0.0623	0.0074
	4WS	0.0548	0.0054	0.0526	0.0051
	2WS + DYC	0.0542	0.0051	0.0527	0.0051
30	2WS	0.0639	0.5348	0.0616	0.5215
	4WS	0.0558	0.5239	0.0528	0.0023
	2WS + DYC	0.0549	0.5226	0.0524	0.0254