Table 3.

Parameters of the MPC Controller.

Symbol	Description	Value [Units]
$N_{\mathrm{p}}$	Prediction horizon	20 [unitless]
$N_{\mathrm{u}}$	Control variable’s number	2 [unitless]
$N_{\mathrm{s}}$	State variable’s number	6 [unitless]
$T_{\mathrm{s}}$	Sampling period	0.05 [s]
${\delta }_w$	Limitation of steering wheel angle	$[-540,540]$ ${[}^{\circ }]$
$\Delta {\delta }_w$	Steering wheel angle rate	$[-5,5]$ ${[}^{\circ }]$
$F_{\mathrm{x}}$	Longitudinal tire force limitation	$[-2000,2000]$ $\left[N\right]$
$\Delta F_{\mathrm{x}}$	Tire force rate limitation	$[-50,50]$ $\left[N\right]$
$\mathbf{Q}$	Weights matrix of states tracking	$diag($$[1\times {10}^{-7}$, $1\times {10}^2$, $1\times {10}^{-7}$, 0, $1\times {10}^{-7}$, 0$\left]\right)$
$\mathbf{R}$	Weights matrix of control variables	$diag\left(\right[1\times {10}^{-7}$, $1\times {10}^{-5}\left]\right)$