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Table 1 Main parameters of the intelligent heavy truck

From: Rollover Prevention and Motion Planning for an Intelligent Heavy Truck

Symbol Value Symbol Value
a(m) 3.106 Ixf (kg∙m2) 2372
b(m) 1.384 Ixr (kg∙m2) 5323.5
msf(kg) 1960 IZ (kg.m2) 30782.4
msr(kg) 4400 Kf (N/rad) 69252
muf(kg) 500 Kr(N/rad) 114829
mur(kg) 760 kf(N∙m/rad) 888433
hcf(m) 0.1 kr (N∙m/rad) 588843
hcr(m) 0.1 kuf (N∙m/rad) 489978
hf(m) 1.1 kur (N∙m/rad) 489978
hr(m) 1.1 lf (N∙m∙s/rad) 3444
huf(m) 0.51 lr (N∙m∙s/rad) 3444
hur(m) 0.528 Twf(m) 2.03
kb (N∙m/rad) 4×105 Twr(m) 1.863