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

Figure 21

Simulation process of trajectory tracking under the lane-changing 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.

(a)

(b)

(c)

(d)

(e)

(f)

(g)