Lateral Stability Control of Four-Wheel Independent Drive Electric Vehicles Based on Model Predictive Control

Table 1

Specifications of the experimental electric vehicle.

Parameter	Value
Mass	3565 kg
Yaw moment of inertia	7016 kg⋅m^2
Distance from CG to front axle	1.593 m
Distance from CG to rear axle	1.707 m
Tire radius	0.435 m
Maximum motor torque	250 Nm
Maximum motor power	55.5 kW
Maximum motor speed	6000 rpm
Planetary reducer ratio	9.15