Model Predictive Controller-Based Optimal Slip Ratio Control System for Distributed Driver Electric Vehicle

Table 1

Symbols of the vehicle model.

Definition	Symbol	Unit
Vehicle mass		kg
Vehicle yaw moment of inertia
Axle tread		m
Distance from c.g. to front and rear axle		m
Front and rear track width		m
Height of c.g.		m
Front and rear cornering stiffness	,	N/rad
Resistance and inductance of motor	,
Flux of motor		Wb
Tyre radius		m
Sideslip angle in vehicle body		rad
Sideslip angle of tyre		rad
Yaw rate in vehicle body		rad/s
Angular velocity of tyre		rad/s
Pitch rate in vehicle body		rad/s
Front wheel steering angle from controller and driver	,	rad
Tyre longitudinal slip ratio		—
Later force of front or rear tyres		N
Moment of inertia of each wheel
Longitudinal or lateral acceleration
Friction coefficient of road		—
Longitudinal torque of each wheel		Nm
Total drive torque from driver pedal command		Nm
Additional yaw moment of each wheel		Nm
Fitting coefficients		—