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

Figure 19

Simulation process of trajectory tracking under parking scenario. (a) position tracking process; (b) speed tracking process; (c) speed error; (d) lateral position error; (e) longitudinal position error; (f) heading angle error; (g) steering angle.

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(b)

(c)

(d)

(e)

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(g)