Research Article
Research on Intelligent Vehicle Path Tracking with Subsystems Based on Multimodel Intelligent Hierarchical Control Theory
| | Parameters | Units | Values |
| | Vehicle mass (m) | kg | 1963 | | Yaw inertia () | | 3048 | | Scale factors () | — | 5; 0.01; 15; 20 | | Distance 1 () | m | 1.232; 1.468 | | Distance 2 () | m | 1.535; 1.535 | | Distance 3 () | m | 0.24; 0.0078 | | Height (h) | m | 0.505 | | Gear rack mass () | kg | 2.5 | | Moment of inertia () | | 0.0016 | | Damping coefficient () | | 0.034; 312 | | Stiffness coefficient () | | 123; 125; 29871 | | Combined transmission ratio () | — | 16.5 | | Back EMF constant () | | 0.0345 | | Electromagnetic torque constant () | | 0.0345 | | Inductance of armature winding () | | 0.035 | | Experience factor ( | — | 0.2 |
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