    = 5000;
TireModel.a4        = 80;
TireModel.a5        = 0;
TireModel.a6        = 0;
TireModel.a7        = 0.6;

% Choosing vehicle
VehicleModel        = VehicleArticulatedNonlinear();
VehicleModel.mF0    = 5200;
VehicleModel.mR0    = 2400;
VehicleModel.mF     = 6000;
VehicleModel.mR     = 10000;
VehicleModel.mM     = 17000;
VehicleModel.IT     = 46000;
VehicleModel.IS     = 450000;
VehicleModel.lT     = 3.5;
VehicleModel.lS     = 7.7;
VehicleModel.c      = -0.3;
VehicleModel.nF     = 2;
VehicleModel.nR 