Table 1 Vehicle parameters

Vehicle total mass m(kg)

1259.98

Vehicle yaw moment of inertia I_z(kg·m²)

4607

Distance from CG to front axle a(m)

1.14

Distance from CG to rear axle b(m)

1.64

Tire rolling radius R_w(m)

0.36

Cornering stiffness of the front tire k₁(N/rad)

− 143583

Cornering stiffness of the rear tire k₂(N/rad)

− 111200

Transmission ratio of steering system G_p

17

Wheel yaw moment of inertia I_w(N∙m²)

1.33

IWM control gain K_m(N∙m/V)

80