PID |
Controls are simple to use and do not rely on specific models. |
PID controller has the problem of poor bersatillity, and the control
parameters tuning is more difficult. |
[108-111] |
PP |
Its easy to use and the line speed is strictly on course, while the
angular speed does not oscillate. |
It is difficult to apply to
high-speed and large road curvature conditions. |
[112-114] |
MPC |
It has the capability of handing system constraints and future
prediction in the design process. |
It is difficult to analyze system
stability and has high computational cost. |
[115,116] |
Stanley |
It has a simple layout and is suitable for controlling the
position of the vehicle. |
High requirement for smoothness of path and
poor tracking performance when vehicle lateral accelerationg is high. |
[36,38] |