Patent ID: 11938923
Assignee: TONGJI UNIVERSITY
Field: Transport (Mechanical engineering)
Classification: CPC B  Y | IPC B

Claim 4:
5. The longitudinal and lateral vehicle motion cooperative control method according to claim 4, wherein a constraint on a side slip angle of the vehicle is defined as follows:, β
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according to a relation between the lateral speed and the side slip angle, the corresponding upper limit value of the lateral speed is obtained as Vy,up=tan(βup)Vx and a constraint on the lateral speed of the vehicle is obtained as |Vy|≤Vy,up;
wherein μ represents a friction coefficient of a road surface, g represents a gravity coefficient, Vx represents a longitudinal speed of the vehicle, Lf and Lr represent lengths of front and rear half axles, respectively, L represents a distance between front and rear axles, Cr represents a stiffness of rear axle tires, and m represents a mass of the vehicle.