A New Hybrid Model Predictive Controller Design for Adaptive Cruise of Autonomous Electric Vehicles

Table 6

Parameters in the lateral dynamics controller design.

	Lateral velocity of vehicle in the body-fixed coordinate system
	Yaw rate of vehicle
X	Abscissa of C.G. of vehicle
	Moment of inertia around the vertical axis through C.G.
	Distance from point B to point C.G.
	Lateral stiffness coefficients of rear tires
	Lateral stiffness coefficients of front tires
	Upper bound of difference of steering angle between two adjacent sampling instants
	Upper bound of lateral motion
	Upper bound of lateral motion
	Lower bound of steering angle
ψ	Angle from x-axis to longitudinal axis of vehicle body
Y	Ordinate of C.G. of vehicle
	Front steering angle
	Distance from point A to point C.G.
	Lateral stiffness coefficients of front tires
	Longitudinal stiffness coefficients of front tires
	Low bound of difference of steering angle between two adjacent sampling instants
	Low bound of lateral motion
	Low bound of lateral motion
	Upper bound of steering angle