Low Speed Longitudinal Control Algorithms for Automated Vehicles in Simulation and Real Platforms

Table 1

Real platform parameters.

Mass (kg)	611.500
Dimensions ()	611.500
CG location , , (m)	−0.928, 0.000, 0.488
Wheelbase (m)	1.686
Track width (m)	1.094
Inertia , inertia , inertia (kg-m^2)	243.175, 430.166, 430.166
Front wheel radius (m)	0.265
Rear wheel radius (m)	0.281
Motor type	Three-phase asynchronous w/regeneration
Power	11 [hp] between 220 and 785 [rad/sec]
Maximum torque	57 [N-m] between 0 and 220 [rad/sec]
Transmission reduction	1 : 9.23