A Study on the Vehicle Antilock System Based on Adaptive Neural Network Sliding Mode Control

Table 3

Parameters of the full vehicle model for ABS vehicles.

Description	Symbol	Value	Units
Vehicle mass	m	1,220	kg
Height of CG	h	0.55	m
Distance from CG to front axle	a	1.18	m
Distance from CG to rear axle	b	1.29	m
coefficient of road adhesion	u	0.79	—
Front wheel tread	Lf	1.18	m
Rear wheel tread	Lr	1.29	m
Mass of single front wheel	mf	98.1	kg
Mass of single rear wheel	mr	79.7	kg
Front wheel angle	δij	0	rad
windward area	A	1.8	m/s^2
Coefficient of air resistance	Cd	0.3	—
Air density	ρ	1.3	N · s^2 · m^−4
Coefficient of rolling resistance	f	0.015	—
The moment of inertia of the spring load mass	Ixz	21.09	kg · m^2
Vehicle rotational inertia around z-axis	Iz	2,906	kg · m^2
Wheel rolling radius	r	0.28	m
Wheel moment of inertia	Iw	3	kg · m^2
Gravitational acceleration	g	9.8	m/s^2