Study of Model Predictive Control for Path-Following Autonomous Ground Vehicle Control under Crosswind Effect

Table 1

Car vehicle parameters.

Parameter	Value
Car mass [kg]	1300
Inertia around the roll, -axis [kgm^2]	370
Inertia around -axis [kgm^2]	2167.56
Distance of front and rear wheels from centre of gravity (CoG) [m]	1.45, 1.07
Distance between the vehicle CoG and the assumed roll axis [m]	0.45
Equivalent suspension roll damping coefficient [Nms]	4200
Equivalent suspension roll stiffness coefficient [Nm]	40000
Linear approximation of tire stiffness for front and rear tire [N/rad]	133000, 121000
Gravitational constant [m/s^2]	9.8