Lateral displacement of the vehicle with different prediction horizons.

Abstract

This figure shows the tracking ability of the proposed controller with prediction horizons of 20, 40, and 60. When the prediction horizon is 20, a relatively large error in the lateral displacement appears as the prediction ability of the controller is degraded. On the other hand, when the prediction ability increases overwhelmingly a prediction horizon of 60 in this case, an extremely early steering is observed. Therefore, the prediction horizon is set to 40 for the controller.</p