A New Self-Tuning Nonlinear Model Predictive Controller for Autonomous Vehicles

Table 2

The response characteristics of vehicle’s speed.

	Proposed approach	GA-MPC	PSO-MPC
Number of tuned parameters	3	22	22
RMSE	6.77	7.10	7.24
Overshoot	6.16%	31.84	36.28%
Steady-state error	0.00	0.00	0.00
Rise time	4.70 sec	4.2 sec	4.20 sec
Settling time	11.20 sec	14.50 sec	17.20 sec