Research Article
Low Speed Longitudinal Control Algorithms for Automated Vehicles in Simulation and Real Platforms
Table 1
Real platform parameters.
| Mass (kg) | 611.500 | Dimensions () | 611.500 | CG location , , (m) | −0.928, 0.000, 0.488 | Wheelbase (m) | 1.686 | Track width (m) | 1.094 | Inertia , inertia , inertia (kg-m2) | 243.175, 430.166, 430.166 | Front wheel radius (m) | 0.265 | Rear wheel radius (m) | 0.281 |
| Motor type | Three-phase asynchronous w/regeneration | Power | 11 [hp] between 220 and 785 [rad/sec] | Maximum torque | 57 [N-m] between 0 and 220 [rad/sec] | Transmission reduction | 1 : 9.23 |
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