Table 1.

Error comparison in zones of 30 km/h with different lateral control methods. Results are expressed in meters. DSA, Dynamic Speed Adaptation; PP, Pure Pursuit.

Dataset	Stanley	Stanley DSA	Alice	Alice DSA	PP	PP DSA	Lombard	Lombard DSA
UTBM-2	0.0182	0.0158	0.0452	0.0416	0.1005	0.0554	0.0845	0.0550
UTBM-3	0.0210	0.0112	0.2840	0.1934	0.3346	0.2823	0.3374	0.2817
Average	0.0196	0.0135	0.1646	0.1175	0.2175	0.1688	0.2109	0.1683