Coordinated control method for electric vehicles having independent four-wheel driving and steering
US12122359B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 18, 2023 |
| Grant date | Oct 22, 2024 |
| Priority date | — |
| Expiry date | Oct 18, 2043 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY02T10/72
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A coordinated control method for electric vehicles having independent four-wheel driving and steering, comprising the steps of: calculating to obtain a desired value of yaw velocity according to the steering angle and the current vehicle driving speed, and limiting the desired value of yaw velocity according to the current road adhesion condition; constructing an optimization problem according to the current vehicle motion state and the desired value of yaw velocity, and solving the optimization problem to obtain a desired active rear wheel steering angle control variable and a desired additional yaw moment control variable; calculating to obtain an additional torque of each wheel according to a desired additional yaw moment control variable, obtaining a desired active rear wheel steering angle, and sending the additional torque of each wheel and the desired active rear wheel steering angle to an executor of the vehicle for performing a coordinated control.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.