Driving Control Research for Longitudinal Dynamics of Electric Vehicles with Independently Driven Front and Rear Wheels

Table 2

Tire parameters based on “Magic Formula.”

	0	1	2	3	4	5	6	7	8
^∗𝑎𝑖	1.374	−0.2501	−980.0	−1845	10.80	−0.0110	−0.0295	0.4052	0.0207
^∗𝑏𝑖	1.5	−2.4	1050	20	226	0.069	−0.006	0.056	0.486
^∗𝑐𝑖	2.34	−0.9250	−6.417	2.004	0.0577	0.0984	0.0028	−0.0100	0.0100
	9	10	11	12	13	14	15	16	17
^∗𝑎𝑖	0	0	−14.24	0	0	—	—	—	—
^∗𝑏𝑖	0	0	—	—	—	—	—	—	—
^∗𝑐𝑖	−3.000	0.0255	0.0036	0.0103	−0.0647	−0.0111	−0.3947	−0.0994	−3.337

^∗𝑎_𝑖, 𝑏_𝑖, and 𝑐_𝑖 are the tire parameters required to solve the lateral, longitudinal, and aligning torque tire force, respectively, in the “Magic Formula” developed by Pacejka and Bakker [17, 18].