Table 1 Bus simulation parameters

Total mass of bus m (kg)

10900

Moment of inertia I_z (kg⋅m²)

31200

Longitudinal distance of cog to front axle a (m)

5.4

Longitudinal distance of cog to front axle b (m)

5.1

Front wheel tread t_w1 (m)

2.2

Rear wheel tread t_w2 (m)

2.2

Front tire cornering stiffness k_f (N/rad)

− 6000

Moment of inertia of the wheel J (kg⋅m²)

65

Wheel radius R (m)

0.52

Height of vehicle center h_g (m)

1.35