Path Tracking Control of Automatic Parking Cloud Model considering the Influence of Time Delay

Table 2

Path tracking control performance comparison.

Control scheme	Experimental data for the following lateral distances ()
	, 0.5 m		, 1.0 m		, 1.5 m
	Minimum of error (m)	Maximum of error (m)	Minimum of error (m)	Maximum of error (m)	Minimum of error (m)	Maximum of error (m)
No control	−1.03	−0.01	−0.98	−0.02	−1.02	−0.04
PID control	−0.1	0.2	−0.09	0.15	−0.12	0.18
Cloud model control	−0.01	0.06	−0.02	0.08	−0.02	0.1