Lane Departure Avoidance Control for Electric Vehicle Using Torque Allocation

Table 1

Vehicle parameters.

Definition	Symbol	Unit	Value
Vehicle mass		kg	1231
Wheel base		m	2.6
Track width		m	1.481
Distance from C.G. to front axle		m	1.56
Distance from C.G. to rear axle		m	1.04
Yaw moment of inertia		kg⋅m^2	2031.4
Height of C.G.		m	0.34
Wheel radius		m	0.304