Low Speed Longitudinal Control Algorithms for Automated Vehicles in Simulation and Real Platforms

Table 7

Tracking errors [Km/h].

	Track error avg			Track error median			Track error RMS
	Sim	Real	Diff	Sim	Real	Diff	Sim	Real	Diff
PID	1,45	1.65	0.20	0.16	0.36	0.2	3.04	3.28	0.24
ANFIS	1.70	2.05	0.35	0.07	0.18	0.11	3.49	3.93	0.44
MPC	1.27	1.56	0.29	0.19	0.50	0.31	2.80	3.08	0.28