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

Table 4

The results obtained with the MPC controller.

Parameters	Test 4	Test 5	Test 6
(cm)	0.8	1.45	1.09
(cm)	1.5	2.86	2.46
(rad)	0.0115	0.0114	0.012
(rad)	0.0212	0.0212	0.022