Considering Variable Road Geometry in Adaptive Vehicle Speed Control

Table 1

Vehicle parameters.

Parameters	Description
m/kg	Total mass
Iz/kg·m^2	Yaw inertial
lf/m	Distance from front axle to center of gravity
lr/m	Distance from rear axle to center of gravity
Cf/N·rad^−1	Front cornering stiffness
Cr/N·rad^−1	Rear cornering stiffness
𝜇	Rolling friction coefficient
kD/N·s^2·m^−2	Aerodynamic drag parameter
kL/N·s^2·m^−2	Aerodynamic lift parameter
g/m·s^−2	Gravity acceleration
FyfFyr/N	Tire lateral force
FxfFxr/N	Tire longitudinal force
𝛿/rad	Steering wheel angle