Table 4 The main vehicle parameters

Vehicle mass m (kg)

1610

Vehicle sprung mass m_s (kg)

1430

Yaw inertia I_z (kg·m²)

2059.2

Roll inertia I_x (kg·m²)

700.7

Distance from front axle to gravity center l_f (m)

1.05

Distance from rear axle to gravity center l_r (m)

1.61

Distance between left and right tires 2l_s (m)

1.565

Height of the sprung mass from the roll center h (m)

0.65

Front cornering stiffness C_f (N/rad)

67862

Rear cornering stiffness C_r (N/rad)

45714

Suspension roll damping K (N·m/rad)

145330

Suspension roll stiffness D (N·m·s/rad)

4500

Friction coefficient μ

0.85