Lane-Change Model and Tracking Control for Autonomous Vehicles on Curved Highway Sections in Rainy Weather

Table 2

Detailed comparison by different simulation tools.

Mode	(m/s)	R (m)	t0 (s)	ax (m/s^2)	λ	f (Hz)	aY(t)max (m/s^2)	φc(t)max (rad)	S'Yc(tc)min (m)	tc (s)	Smin (m)
PreScan	30	650	0.5	0	—	0.4	3.5110	0.0904	2.1151	2.52	80.5250
				−2			3.5908	0.1020	2.1485	2.46	75.0523
Lane-change model				0	5.4		3.3707	0.0736	2.0666	2.41	77.3690
				−2	5.3		3.4417	0.0849	2.0991	2.36	72.3509
Error %						0.4	4.00	18.58	2.29	4.37	3.92
							4.15	16.76	2.30	4.07	3.60