Integrated Lateral and Longitudinal Control with Optimization-Based Allocation Strategy for Autonomous Electric Vehicles

Table 1

Parameters of the vehicle.

Symbol	Name	Value
	Vehicle mass	1523
	Inertia around z-axis	2330
	Distance between COG and front axle	1.5
	Distance between COG and front axle	1.2
	Distance between ground and the COG	0.504
	Front half wheelbase	0.6
	Rear half wheelbase	0.6
	Radius of wheel	0.32
	Inertia of wheel	0.9
	Shape factor	1.4724
	Stiffness factor	10.87
	Maximum of wheel torque	2605
	Maximum steepness of wheel torque	5000
	Maximum of road-wheel angle	1.05
	Maximum steepness of road-wheel angle	1.35