GA-BPNN Based Hybrid Steering Control Approach for Unmanned Driving Electric Vehicle with In-Wheel Motors

Table 1

Vehicle parameters.

Symbol	Parameter	Value
	Vehicle mass	700 kg
	Axle distance	1.77 m
	Distance from the centroid to the front axle	0.795 m
	Distance from the centroid to rear axle	0.975 m
	Moment of inertia	2000 kg·m^2
	Radius of wheel	0.245 m
	Cornering stiffness of the front tire	30,000 N/rad
	Cornering stiffness of the rear tire	30,000 N/rad
	Moment of inertia of steering wheel	0.0015 kg/m^2
	Moment of inertia on output shaft of steering system	0.0036 kg/m^2
	Damping coefficient of steering wheel	0.27 N/(m·s)
	Damping coefficient of output shaft of steering system	386.408 N/(m·s)
	Torsional stiffness	41039.6 N/m