Experimental Study of Electric Vehicle Yaw Rate Tracking Control Based on Differential Steering

Table 1

Vehicle parameters.

Symbol	Value	Indicators
	649 kg	Vehicle mass (without passengers)
	801 kg	Vehicle mass (with two passengers)
	1.2 m	Distance from the CG to the front axle
	1.2 m	Distance from the CG to the rear axle
	0.72 m	Half length between the front-two wheels
Max. voltage	72 V	Vehicle battery voltage
Max. power	28 kW	Total power of the four motors
	[0, 5] V	Control voltage of the in-wheel motor controller