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

Table 3

Comparison of the two force-based cost functions performing the test cases.

Maneuver	Cf
Low-mu		1	1	1	1	1	1
		1.078	1.077	1.712	1.366	3.219	5.517
Double		1.019	1.021	1.045	1	1	1
		1	1	1	1.209	1.204	1.208
Step		1.042	1.046	1	1	1	1
		1	1	1.009	2.572	1.407	1.363