| 误差类别曲率 | 0(直线) | 0.05 | 0.1 | |
| 最大横向误差/m | PP | −0.0009 | 0.5694 | 0.9774 |
| LQR | 0.0833 | 0.2372 | 0.8571 | |
| 传统MPC | 0.0028 | −0.3262 | 0.3547 | |
| 改进MPC | −0.0007 | 0.0366 | 0.1550 | |
| 平均横向误差/m | PP | −2.4 × 10−6 | 0.4343 | −0.0031 |
| LQR | 0.0094 | 0.1223 | 0.3477 | |
| 传统MPC | 7.3 × 10−5 | −0.1028 | −0.0018 | |
| 改进MPC | 7.2 × 10−6 | −0.0209 | 0.0096 | |
| 最大航向角误差/˚ | PP | 0.0009 | −0.2423 | −0.4601 |
| LQR | 0.1048 | −0.0713 | 0.2470 | |
| 传统MPC | −0.0014 | −0.1537 | −0.1886 | |
| 改进MPC | 7.1 × 10−5 | 0.0333 | −0.0668 | |
| 平均航向角误差/˚ | PP | 2.1 × 10−5 | −0.2093 | 0.0034 |
| LQR | −0.0001 | −0.0368 | −0.0023 | |
| 传统MPC | −3.6 × 10−5 | 0.0277 | 0.0009 | |
| 改进MPC | −3.4 × 10−5 | 0.0062 | 0.0030 | |