Research on Curved Path Tracking Control for Four-Wheel Steering Vehicle considering Road Adhesion Coefficient

Table 1

Parameters of D-class sedan.

Model parameter	Notation	Unit	Value
Yaw moment of inertia			4607.47
Vehicle mass			1530
Distances from vehicle C.G. to front axle			1.11
Distances from vehicle C.G. to rear axle			1.66622
Front-wheel track width			1.55
Rear wheel track width			1.55
Vehicle wheelbase			2.77622
Vehicle height			1.471
Vehicle length			4.52
Vehicle width			1.8
Cornering stiffness of front axle			97937  2
Cornering stiffness of rear axle			70287  2
Longitudinal stiffness of front axle			85740  2
Longitudinal stiffness of rear axle			57110  2
Initial transmission ratio of to			23
Front-wheel optimal slip ratio			0.2
Rear wheel optimal slip ratio			0.2