Table 1.

Vehicle parameters.

Sign	Meaning	Value	Unit
L × D × H	Vehicle size	3600 × 1600 × 1700	mm × mm × mm
$\mathsf{\mu }$	Road friction coefficient	2
$\mathrm{m}$	Vehicle Mass	1100	kg
${\mathrm{I}}_{\mathrm{z}}$	Yaw moment of inertia	2850	kg m2
${\mathrm{l}}_{\mathrm{f}}$	Front axle-COG distance	1.15	m
${\mathrm{l}}_{\mathrm{r}}$	Rear axle-COG distance	1.05	m
${\mathrm{K}}_{\mathrm{f}}$	Cornering stiffness of the front tire	32000	N/rad
${\mathrm{K}}_{\mathrm{r}}$	Cornering stiffness of the real tire	32000	N/rad
$\mathrm{v}$	Vehicle	≤60	km/h