Trajectory Tracking Control of Intelligent Driving Vehicles Based on MPC and Fuzzy PID

Figure 15

Membership functions corresponding to vehicle speed: (a) longitudinal speed error’s membership function; (b) change rate of longitudinal speed error’s membership function; (c)’s membership function; (d)’s membership function; (e)’s membership function.

(a)

(b)

(c)

(d)

(e)