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 2

Definition of symbols in the lateral tracking model of driverless racing car.

, Components of acceleration on the x- and y-axes

, Racing horizontal and vertical speed

Heading angle

, Speed direction of front and rear wheels

, Side slip angle of front and rear wheels

Front wheel steering angle

Turning radius