Table 2 Main parameters used in the simulation
From: Trajectory Tracking of Autonomous Vehicle with the Fusion of DYC and Longitudinal–Lateral Control
Symbol | Description | Value | Symbol | Description | Value |
|---|---|---|---|---|---|
\(m\) | Mass of vehicle | 1298 kg | \(I_{z}\) | Yaw rate of inertia around CoG | 1627 kg m2 |
\(l_{f}\) | Distance from CoG to front axle | 1 m | \(l\) | Distance from rear axle to front axle | 2.454 m |
\(l_{r}\) | Distance from CoG to rear axle | 1.454 m | \(C_{cf}\) | Cornering stiffness of front tire | 90,000 N/rad |
\(C_{cr}\) | Cornering stiffness of rear tire | 90,000 N/rad | \(R_{\omega }\) | Rolling radius of tire | 0.35 m |