Table 1 Physics model definitions.
ParameterSymbolUnits
Front axle to CGam
Rear axle to CGbm
Front lateral forceFyfN
Front longitudinal forceFxfN
Front tire slipαfrad
Rear lateral forceFyrN
Rear tire slipαrrad
Steer angle inputδrad
Yaw raterrad/s
Sideslipβrad
Lateral path deviationem
Heading deviationΔΨrad
Longitudinal velocityUxm/s
Lateral velocityUym/s