Vehicle lateral dynamics model

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Hi everyone,

I want to realize steering control for a vehicle (e.g. car1-trb1) with LQR
(Linear Quadratic Regulator) or MPC (Model Predictive Control) algorithm.
But to use these algorithms, I need the state space model by following this
book <https://link.springer.com/chapter/10.1007/978-1-4614-1433-9_2> (equation
2.45).
The exact vehicle parameters employed are:

   - m: vehicle  mass
   - I_z: yaw moment of inertia
   - l_f: longitudinal distance from the center of gravity to the front
   tires
   - l_r: longitudinal distance from the center of gravity to the rear tires
   - C_f: cornering stiffness of the front tires
   - C_r: cornering stiffness of the rear tires

Check the file /torcs-1.3.7/data/cars/models/car1-trb1.xml, I cannot find
C_f and C_r. The provided parameter <stiffness = 20.0> is not the same
meaning as C_f or C_r, because C_f and C_r should be some value like 20,000.
Can anyone help to find or calculate the C_f or C_r? Many thanks :-)

Dong Li

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<div dir=3D"ltr">Hi everyone,<div><br></div><div>I want to realize steering=
 control for a vehicle (e.g. car1-trb1) with LQR (Linear Quadratic Regulato=
r) or MPC (Model Predictive Control) algorithm. But to use these algorithms=
, I need the state space model by following=C2=A0this <a href=3D"https://li=
nk.springer.com/chapter/10.1007/978-1-4614-1433-9_2">book</a>=C2=A0(equatio=
n 2.45).=C2=A0</div><div>The exact vehicle parameters employed are:=C2=A0</=
div><div><ul><li>m: vehicle=C2=A0 mass</li><li>I_z: yaw moment of inertia</=
li><li>l_f: longitudinal distance from the center of gravity to the front t=
ires</li><li>l_r: longitudinal distance from the center of gravity to the r=
ear tires</li><li>C_f: cornering stiffness of the front tires</li><li>C_r: =
cornering stiffness of the rear tires</li></ul>Check the file=C2=A0/torcs-1=
.3.7/data/cars/models/car1-trb1.xml, I cannot find C_f and C_r. The provide=
d parameter &lt;stiffness =3D 20.0&gt; is not the same meaning as C_f or C_=
r, because C_f and C_r should be some value like 20,000.</div><div>Can anyo=
ne help to find or calculate the C_f or C_r? Many thanks :-)</div><div><br>=
</div><div>Dong Li</div></div>

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