Table 1 Physical parameters of a seven-DOF vehicle model

Vehicle sprung mass m_s (kg)

Pitch moment inertia of sprung mass I_x (kg·m²)

Roll moment inertia of sprung mass I_y (kg·m²)

Distance from sprung mass CG to front axle a (m)

Distance from sprung mass CG to rear axle b (m)

Half width of front axle t_f (m)

Half width of rear axle t_r (m)

Front unsprung mass m_uf (kg)

Rear unsprung mass m_ur (kg)

Spring rate of front suspension k_psf (N/mm)

Spring rate of rear suspension k_psr (N/mm)

Damping coefficient of front suspension c_psf (N∙m/s)

Damping coefficient of rear suspension c_psr (N∙m/s)

Spring rate of front suspension k_bsf (N/mm)

Spring rate of rear suspension K_bsf (N/mm)

Vertical stiffness of tire k_tf/k_tr (N/mm)