Table 1: Parameters and meaning.

ParameterMeaning

The vehicle centroid to the front axle
Vehicle quality
The longitudinal velocity
Sideslip angle
Yaw rate
Tire longitudinal force
Vertical force of tire
The vehicle centroid to the rear axle
Moment of inertia of vehicle around the lead vertical shaft
The front wheel sideslip angle
The rear wheel sideslip angle
Tire rotation
Tire lateral force
Wheelbase