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

Table 13

Simulation results of the trajectory tracking under the lane-changing scenario.

Parameters	LQR-dual PID	MPC-fuzzy PID
(cm)	2.79	0.16
(cm)	1.03	0.0645
(rad)	0.0021	0.0023
(rad)	0.00072	0.00079
(m/s)	0.0872	0.0352
(m/s)	0.0139	0.0022
(cm)	7.74	1.9
(cm)	3.89	0.62