Table 1: Linear single track vehicle model parameters.

SymbolQuantityUnit

Yaw raterad/sec
Side slip angleRad
Vehicle center of gravity speedm/sec
Front wheel steering angleRad
Tire-road friction coefficient
Front wheels cornering stiffness (72,500)N/rad
Rear wheels cornering stiffness (92,500)N/rad
Vehicle mass (1,321)kg
Vehicle moment of inertia wrt axis (2,120)kgm2
Distance from front axle to vehicle center of gravity (1.07)m
Distance from rear axle to vehicle center of gravity (1.53) m
Front axle width (1.485) m
Rear axle width (1.475)m
Dynamic tire radius (0.298)m