Research Article
Research on Intelligent Vehicle Path Tracking with Subsystems Based on Multimodel Intelligent Hierarchical Control Theory
| Parameters | Units | Values |
| Vehicle mass (m) | kg | 1963 | Yaw inertia () | | 3048 | Scale factors () | — | 5; 0.01; 15; 20 | Distance 1 () | m | 1.232; 1.468 | Distance 2 () | m | 1.535; 1.535 | Distance 3 () | m | 0.24; 0.0078 | Height (h) | m | 0.505 | Gear rack mass () | kg | 2.5 | Moment of inertia () | | 0.0016 | Damping coefficient () | | 0.034; 312 | Stiffness coefficient () | | 123; 125; 29871 | Combined transmission ratio () | — | 16.5 | Back EMF constant () | | 0.0345 | Electromagnetic torque constant () | | 0.0345 | Inductance of armature winding () | | 0.035 | Experience factor ( | — | 0.2 |
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