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

Table 12

Simulation results of the trajectory tracking under parking scenario.

Parameters	LQR-dual PID	MPC-fuzzy PID
(cm)	2.96	0.41
(cm)	1.42	0.18
(rad)	0.0081	0.0081
(rad)	0.0042	0.0041
(m/s)	0.0731	0.0349
(m/s)	0.0111	0.0026
(cm)	11.23	1.39
(cm)	2.6	0.35