Lateral Error Score/Penalty Function

The lateral error score and penalty function is defined as follows.

Function #1.

 

 

 

 

Figure 15. Lateral Error Score/Penalty Fuunction

 

Note:

  1. Score/penalty is applied at each simulation step (i.e., for each data sample).
  2. Lane Width = 3.66 m, Vehicle Width = 2.44 m < /FONT >
  3. The lateral error is defined as follows.

 

Figure 16. Definition of Lateral Error

 

Figure 17. Lane Centerline and Boundary