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B-1 A P P E N D I X B Vehicle Parameters Used in Simulation Parameter Description E-Class Sedan E-Class SUV Full-Size SUV Single-Unit Truck Tractor Semi-Trailer Lead Unit Sprung Mass (lb) 3,640 3,500 5,010 9,810 13,900 Lead Unit Unsprung Mass (lb) 396 594 594 2,870 4,710 Lead Unit Total Mass (lb) 4,030 4,100 5,600 12,700 18,600 Trailer Sprung Mass (lb) 13,000 Trailer Unsprung Mass (lb) 3,450 Trailer Total Mass without Payload (lb) 16,500 Trailer Payload Mass (lb) 22,000 Lead Unit Yaw Moment of Inertia (lb-ft2) 65,500 58,900 83,500 825,000 466,000 Trailer Yaw Moment of Inertia (lb-ft2) 4,260,000 Trailer Payload Yaw Moment of Inertia (lb-ft2) 1,180,000 Lead Unit Roll Moment of Inertia (lb-ft2) 14,500 14,500 20,000 54,200 163,000 CG to Front Axle Distance (ft) 4.6 3.87 3.71 3.65 4.54 CG to Rear Axle Distance (ft) 5.4 5.81 5.96 12.8 13.9 Hitch to Lead Unit CG Distance (ft) 13.9 Hitch to Trailer CG Distance (ft) 19.7 Hitch to Payload CG Distance (ft) 24 Hitch to Trailer Axle Distance (ft) 45.2 Lead Unit Wheelbase (ft) 10 9.68 9.67 16.4 18.5 Nominal Cornering Stiffness Front (lbf/rad) 51,000 32,000 43,000 77,000 100,000 Nominal Cornering Stiffness Rear (lbf/rad) 44,000 24,000 29,000 27,000 240,000 Nominal Cornering Stiffness Trailer (lbf/rad) 140,000 Cornering Coefficient (1/rad) 21.4 10.6 10.6 7.08 7.08 Cornering Stiffness Intercept (lbf/rad) 4,790 6,850 6,850 7,340 7,340 CG Height (ft) 1.94 2.36 2.56 3.85 3.34 Height of Hitch (ft) 3.61 Trailer CG Height Unloaded (ft) 5.45 Trailer CG Height Loaded (ft) 6.77 Track Width (ft) 5.25 5.17 6.23 6.39 9.44 Brake Gain Front (lbf-ft/psi) 4.07 4.07 5.09 4.07 Brake Gain Rear (lbf-ft/psi) 3.05 3.05 3.56 3.05 Tire Rolling Radius (ft) 1.19 1.26 1.32 1.67 Brake Proportioning Valve Pressure (psi) 363 290 290 Deceleration for Brake Transition (ft/s2) 17.2 12.8 10.9
