Research Article
Trajectory Tracking Control in Real-Time of Dual-Motor-Driven Driverless Racing Car Based on Optimal Control Theory and Fuzzy Logic Method
Table 1
Parameters of driverless car.
| Parameters’ name | Parameters’ value |
| Wheelbase L | 1550 mm | Distance from center of mass to front axle of car a | 1220 mm | Distance from center of mass to rear axle b | 1200 mm | Vehicle quality m | 310 kg | Front wheel cornering stiffness | 95202 | Rear wheel cornering stiffness | 63947 | Length/Width/Height | 2860/1120/1175 mm | Front/Rear axle track | 1220/1200 mm | Centroid height | 280 mm | Moment of inertia around Z-axis | 340 Kg m2 | Tire model | 18.0 × 7.5–10R25 B | Wheel radius | 237 mm | Curb quality | 310 Kg |
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