Table 1 Vehicle parameters of autonomous vehicles

Total vehicle mass \(m\) (\(\mathrm{kg}\))

2407

Vehicle sprung mass \({m}_{s}\) (\(\mathrm{kg}\))

2257

Moment of inertia about \(Z\) axis \({I}_{z}\) (\(\mathrm{kg}\cdot {\mathrm{m}}^{2}\))

3524.9

Moment of inertia about \(X\) axis \({I}_{x}\) \((\mathrm{kg}\cdot {\mathrm{m}}^{2})\)

846.6

Wheel spacing \(L\) (\(\mathrm{m}\))

1.75

Distance between the roll center to the CG of the sprung mass \({h}_{r}\) (\(\mathrm{m}\))

0.4

Distance of CG from the front axle \({l}_{f}\) (\(\mathrm{m}\))

1.33

Distance of CG from the rear axle \({l}_{r}\) (\(\mathrm{m}\))

1.81

Cornering stiffness of front tires \({C}_{f}\) (\(\mathrm{N}/\mathrm{rad}\))

80000

Cornering stiffness of rear tires \({C}_{r}\) (\(\mathrm{N}/\mathrm{rad}\))

80000

Roll stiffness coefficient \({K}_{r}\) (\(\mathrm{N}\cdot \mathrm{m}/\mathrm{rad}\))

5730

Roll damping coefficient \({B}_{r}\) (\(\mathrm{N}\cdot \mathrm{m}\cdot \mathrm{s}/\mathrm{rad}\))

6000