Table 1 Parameters of vehicle model.

Vehicle body mass

M_v

kg

34,000

Pitching moment of inertia

I_hb

kg·m²

57,068

Lateral tilt moment of inertia

I_r

kg·m²

7119

Front axle suspension mass

m₁、m₂

kg

297

Middle / Rear axle suspension mass

m₃ ~ m₆

kg

466

Front axle suspension damping coefficient

C₁、C₂

N·s/m

2730

Middle/rear axle suspension damping coefficient

C₃ ~ C₆

N·s/m

3800

Front axle suspension stiffness

K₁、K₂

N /m

630,000

Middle/rear axle suspension stiffness

K₃ ~ K₆

N /m

790,000

Wheel damping coefficient

C_t1,1~C_t6,12

N·s/m

167

Wheel stiffness

k_t1,1~k_t6,12

N /m

233,333

Distance from the front axle to the center of travel of vehicle body

A

m

3.4

Distance from middle axle to center of travel of vehicle body

B

m

0.2

Distance from the rear axle to center of travel of vehicle body

C

m

1.2

Spacing between left and right wheels

D

m

1.8