Trajectory Tracking Control in Real-Time of Dual-Motor-Driven Driverless Racing Car Based on Optimal Control Theory and Fuzzy Logic Method

Table 1

Parameters of driverless car.

Parameters’ name	Parameters’ value
Wheelbase L	1550 mm
Distance from center of mass to front axle of car a	1220 mm
Distance from center of mass to rear axle b	1200 mm
Vehicle quality m	310 kg
Front wheel cornering stiffness	95202
Rear wheel cornering stiffness	63947
Length/Width/Height	2860/1120/1175 mm
Front/Rear axle track	1220/1200 mm
Centroid height	280 mm
Moment of inertia around Z-axis	340 Kg m^2
Tire model	18.0 × 7.5–10R25 B
Wheel radius	237 mm
Curb quality	310 Kg