Table 1 Main parameters of the autonomous vehicle.
From: A comparative study on trajectory tracking control methods for automated vehicles
Definition | Symbol | Value | Unit |
|---|---|---|---|
Vehicle mass | \(m\) | 1381 | kg |
Distance from COG to the front axle | \(l_{f}\) | 1.117 | m |
Distance from COG to the rear axle | \(l_{r}\) | 1.188 | m |
Yaw moment of inertia of the vehicle | \(I_{z}\) | 1833.8 | kg/m2 |
Cornering stiffness of the front wheel | \(C_{\alpha f}\) | 30,087 | N/rad |
Cornering stiffness of the rear wheel | \(C_{\alpha r}\) | 31,888 | N/rad |
Spin inertia of the wheel | \(I_{\omega }\) | 0.4 | kg |
Rolling radius of the wheel | \(R\) | 0.291 | m |
