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

Table 2

External parameters discretization for minimization problem.

Variable	Symbol	Min value	Max value	Unit	Points
Driver required torque		−4000	0		21
Wheel/motor angular velocity		0	1600		21
Yaw moment required		−1500	1500		11
Lateral acceleration		−g	g		11
Road slope		−10	10		11