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

Table 3

The response characteristics of vehicle’s lateral position.

	Proposed approach	GA_MPC	PSO-MPC
Number of tuned parameters	3	17	17
RMSE	0.72	0.73	0.73
Overshoot	8.01%	17.13	20.27%
Steady-state error	0.00	0.00	0.00
Rise time	0.16 sec	0.15 sec	0.14 sec
Settling time	0.62 sec	0.58 sec	0.58 sec