Longitudinal and lateral vehicle motion cooperative control method based on fast solving algorithm
US11938923B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 26, 2023 |
| Grant date | Mar 26, 2024 |
| Priority date | — |
| Expiry date | Sep 26, 2043 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY02T10/40
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A longitudinal and lateral vehicle motion cooperative control method based on a fast solving algorithm comprises the following steps: calculating a desired yaw rate according to a steering wheel rotation angle and a current vehicle traveling speed; constructing a nonlinear optimization problem according to the desired yaw rate and a current actual motion state of a vehicle, wherein an objective function of the nonlinear optimization problem is used for tracking the desired yaw rate, and simultaneously for restraining a lateral speed and a tire slip ratio of the vehicle; solving the nonlinear optimization problem to calculate desired slip ratios of four tires; calculating an additional torque of each tire according to an actual slip ratio and the desired slip ratio of the tire; and sending the additional torque of each tire to an actuator of the vehicle for cooperative control.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.