Optimal Cooperative Brake Distribution Strategy for IWM Vehicle Accounting for Electric and Friction Braking Torques

Table 1

Main vehicle parameters.

Symbol	Parameter	Value	Unit
m	Vehicle mass	1947	kg
Jz	Yaw moment of inertia	2559.8	kg m^2
l	Wheelbase	2.875	m
lf	Com to front axle distance	1.380	m
lr	Com to rear axle distance	1.495	m
hG	Com height from ground	0.660	m
cf	Front track width	1.497	m
cr	Rear track width	1.495	m