Research Article
GA-BPNN Based Hybrid Steering Control Approach for Unmanned Driving Electric Vehicle with In-Wheel Motors
| 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·m2 | | 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/m2 | | Moment of inertia on output shaft of steering system | 0.0036 kg/m2 | | 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 |
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