Motion Control of a 4WS4WD Path-Following Vehicle: Dynamics-Based Steering and Driving Models

Table 1

Vehicle parameters used in simulation.

Notation	Value	Unit
Vehicle mass m	1060	Kg
Inertia moment J	1523	kg·m^2
Cornering stiffness of front tire Cf α	−61060	N/rad
Cornering stiffness of rear tire Cr α	−97920	N/rad
Half of front track width a	0.79	M
Half of rear track width b	0.84	M
The distance from mass center of vehicle to front axles lf	1.539	M
The distance from mass center of vehicle to rear axles lr	1.539	M
Air density ρ	1.2258	N/s^2/m^4
Air drag coefficient Cd	0.3	—
Frontal cross-sectional area A	2.5	m^2
Tire rolling resistance Cf	0.01	—
Gravitational constant	9.8	m/s^2
Friction coefficient μ	0.8	—