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

Table 4

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

Maneuver	Cf
Low-mu		1.014	1.007	1.010	1.002	1	1
		1	1	1	1	1.016	1.058
Double		1.001	1.001	1.002	1.001	1	1
		1	1	1	1	1.018	1.056
Step		1.004	1.001	1.003	1.001	1	1
		1	1	1	1	1.024	1.057