Research Article
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 |
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