Table 2 Symbol and definition of parameters

Vehicle mass

\(m\) (kg)

1750

Inertia moment of the vehicle about yaw axis

\(I_{z}\) (kg·\({\text{m}}^{2}\))

2500

Distance of the front/rear axle from CG

\(l_{f}\)/\(l_{r}\) (m)

1.24/1.46

Nominal cornering stiffness of front/rear wheels

\(C_{f} /C_{r}\) (kN/rad)

60/60

Minimal/maximal longitudinal velocity

\(v_{{{\text{min}}}} /v_{{{\text{max}}}}\) (m/s)

5/30

Minimal/maximal yaw rate

\(r_{{{\text{min}}}} /r_{{{\text{max}}}}\) (rad/s)

− 0.5/0.5

Minimal/maximal curvature of the path

\(C_{{R{\text{min}}}} /C_{{R{\text{max}}}}\) (\({\text{m}}^{ - 1}\))

− 0.02/0.02