Research Article
Vehicle Yaw Rate Estimation Using a Virtual Sensor
Table 1
Linear single track vehicle model parameters.
| | Symbol | Quantity | Unit |
| | Yaw rate | rad/sec | | Side slip angle | Rad | | Vehicle center of gravity speed | m/sec | | Front wheel steering angle | Rad | | 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 |
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