Integrated Lateral and Longitudinal Control with Optimization-Based Allocation Strategy for Autonomous Electric Vehicles

Figure 11

Comparison of the two cost function performing path-following. (a) Path. (b) Lateral error. (c) Longitudinal speed. (d) Wheel torques . (e) Wheel torques . (f) Road-wheel angle. (g) Yaw rate.

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(b)

(c)

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(g)