Table 1 Symbol and definition of the tracking system
Parameters | Unit | Description |
|---|---|---|
\(x/y\) | \({\text{ m}}\) | Coordinates of center of gravity (CG) |
\(\varphi\) | \({\text{rad}}\) | Yaw angle of vehicle body (in inertial coordinates system, OXY) |
\(r\) | \({\text{rad}}/{\text{s}}\) | Yaw rate of vehicle body |
\(v_{x} /v_{y}\) | \({\text{m}}/{\text{s}}\) | Longitudinal/lateral velocity (in local coordinates system, oxy) |
\(e_{y}\) | \({\text{m}}\) | Offset of CG from the reference point |
\(e_{\varphi }\) | \({\text{rad}}\) | Orientation error of yaw angle with respect to the reference trajectory |
\(e_{v}\) | \({\text{m}}/{\text{s}}\) | Error between the current and the desired longitudinal velocity |
\(m\) | \({\text{kg}}\) | Vehicle mass |
\(I_{Z}\) | \({\text{kg}} \cdot {\text{m}}^{2}\) | Yaw moment of inertia of the vehicle |
\(l_{f} /l_{r}\) | \({\text{m}}\) | Distance from CG to the front/real axle |
\(F_{xf} /F_{xr}\) | \({\text{N}}\) | Longitudinal tire force of the front/rear wheel |
\(F_{yf} /F_{yr}\) | \({\text{N}}\) | Lateral tire force of the front/rear wheel |
\(C_{f} /C_{r}\) | \({\text{N}}/{\text{rad}}\) | Cornering stiffness of the front/real wheel |
\(\alpha_{f} /\alpha_{r}\) | \({\text{rad}}\) | Slip angle of the front/ rear wheel |
\(F_{x}\) | \({\text{N}}\) | Generalized longitudinal force |
\(\delta_{f}\) | \({\text{rad}}\) | Front wheel steering angle |
\(C_{R}\) | \({\text{m}}^{ - 1}\) | Road curvature |