Research Article
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·m2 | 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/s2/m4 | Air drag coefficient Cd | 0.3 | — | Frontal cross-sectional area A | 2.5 | m2 | Tire rolling resistance Cf | 0.01 | — | Gravitational constant | 9.8 | m/s2 | Friction coefficient μ | 0.8 | — |
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