Research on Model Predictive Control Method for Vehicle Lateral Stability Based on Hardware-in-the-Loop Test

Table 1

Model parameters.

Symbols	Description
	Sideslip angle in vehicle body
	Sideslip angle of tire
	Yaw rate in vehicle body
	Front-wheel steering angle
	Vehicle mass
	Yaw moment of vehicle inertia
	Distance from the center of gravity to front or rear axle
	Cornering stiffness at front or rear each tire