Table 1 Nominal vehicle parameters used for the 2-DOF model and AMPC design.

From: Adaptive model predictive control for robust lateral motion tracking of semi-autonomous vehicles with dynamic parameter variation

Parameter

Symbol

Description

Nominal value (literature)

Vehicle mass

(m)

Total vehicle mass

1600 kg

Front cornering stiffness

(Cf)

Front axle cornering stiffness

60, 000 N/rad

Rear cornering stiffness

(Cr)

Rear axle cornering stiffness

60, 000 N/rad

Distance CoG to front axle

(lf)

Front axle lever arm

1.4 m

Distance CoG to rear axle

(lr)

Rear axle lever arm

1.6 m

Yaw moment of inertia

(Iz)

Rotational inertia about vertical axis

2000 kg·m2

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