Motion Planning and Tracking Control of Autonomous Vehicle Based on Improved Algorithm

Table 2

Vehicle parameter list.

Parameters/units	Value
Vehicle mass/Kg	1270
Distance from the center of mass to the front axis/mm	1015
Moment of inertia/Kg·m^2	2875
Front-wheel cornering stiffness/N/rad	−56000
Wheelbase of the front axle/mm	1675
Height of the center of mass/mm	540
Distance from the center of mass to the rear axis/mm	1795
Effective radius of wheel/mm	350
Rear wheel cornering stiffness/N/rad	−34000
Wheelbase of the rear axle/mm	1675