Development of Estimation Force Feedback Torque Control Algorithm for Driver Steering Feel in Vehicle Steer by Wire System: Hardware in the Loop

Table 3

Linear vehicle model [16].

Parameter	Description	Value	Unit
	Front cornering stiffness	40000	N/rad
	Rear cornering stiffness	35000	N/rad
	Length from center front wheel to (C.O.G) vehicle	1.4	m
	Length from center rear wheel to C.O.G vehicle	1	m
	Mass of the vehicle	1535	kg
	Inertia of vehicle	2149	kgm^2
	Speed of vehicle	—	km/h
	Front tire lateral force	—	Nm
	Rear tire lateral force	—	Nm
	Front tire slip angle	—	Nm
	Rear tire slip angle	—	Nm