Motion Planning and Tracking Control of Autonomous Vehicle Based on Improved Algorithm

Figure 16

Tracking control renderings. (a) Lateral position tracking comparison. (b) Lateral position tracking error. (c) Yaw angle tracking comparison. (d) Yaw angle tracking error. (e) Front-wheel angle diagram. (f) Lateral acceleration diagram. (g) Yaw rate diagram. (h) Center of mass slip angle diagram.

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