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

Claim 6:
7. The longitudinal and lateral vehicle motion cooperative control method according to claim 1, wherein the additional torque of each tire is calculated by using PID control, and an expression is as follows:, Δ
   ⁢
   
    T
    i
   
  
  =
  
   
    
     K
     P
    
    (
    
     
      
       κ
       ~
      
      i
     
     -
     
      κ
      i
     
    
    )
   
   +
   
    
     K
     I
    
    ⁢
    
     
      ∫
      
        
       
        t
        =
        0
       
      
      
        
       0.1
      
     
     
      
       (
       
        
         
          κ
          ~
         
         i
        
        -
        
         κ
         i
        
       
       )
      
      ⁢
      dt
     
    
   
  
 

wherein subscripts i=1,2,3,4 represent different tire numbers, ΔTi represents the additional torque of each tire, Kp and KI represent a proportionality coefficient and an integral coefficient, respectively, and κi and {tilde over (κ)}i represent an actual slip ratio at a current moment and the desired slip ratio of each tire obtained by an upper-layer controller, respectively, and t represents time.