Minimum Time Approach to Emergency Collision Avoidance by Vehicle Handling Inverse Dynamics

Table 1

Two vehicles parameter list.

Parameter	Model A	Model B
/kg
/(kg⋅m^2)
/(N⋅rad^−1)
/(N⋅rad^−1)
(kg⋅m^2)
(N⋅m⋅s⋅rad^−1)
/(N⋅m⋅rad^−1)
km⋅h^−1

is the transmission gear ratio, is the main reducer gear ratio, and is the wheel radius.