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Table 1 Main parameter values of vehicle model

From: Neural-Fuzzy-Based Adaptive Sliding Mode Automatic Steering Control of Vision-based Unmanned Electric Vehicles

Parameter Value
Vehicle mass m (kg) 1800
Yaw inertia of vehicle Iz (kg·m2) 2500
Distance from the front axle to the mass centre lf (m) 1.03
Distance from the rear axle to the mass centre lr (m) 1.49
Nominal cornering stiffness of front tires C0f (kN/rad) 40
Nominal cornering stiffness of rear tires C0r (kN/rad) 40