Table 3.

Error comparison in sharp curves of different lateral control methods for the UTBM-2 dataset. Results are expressed in meters.

Curve	Stanley	Stanley DSA	Alice	Alice DSA	PP	PP DSA	Lombard	Lombard DSA
1	0.0722	0.0288	0.5747	0.3308	0.8657	0.2451	0.4231	0.0552
2	0.0743	0.0245	0.6572	0.4945	0.7135	0.2372	0.5050	0.0589
3	0.2586	0.1797	1.2132	0.7815	1.5847	0.6940	0.9028	0.1292
4	0.0574	0.0265	0.5724	0.2591	0.5528	0.2396	0.2616	0.0382
5	0.1214	0.0449	1.0485	0.5650	1.0909	0.3627	0.5347	0.0751
6	0.1001	0.0441	0.9109	0.4528	1.4346	0.7075	0.7563	0.0687
Average	0.114	0.0581	0.8295	0.4807	1.0404	0.4143	0.5639	0.0709