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

Claim 5:
6. The longitudinal and lateral vehicle motion cooperative control method according to claim 1, wherein the nonlinear optimization problem, after being fast solved based on Pontryagin's minimum principle, is transformed to find out an optimal initial value of a Lagrangian multiplier, the initial value allowed to meet the terminal conditions along optimal necessary conditions;
the optimal initial value of the Lagrangian multiplier is obtained by optimizing and searching through a Nelder-Mead simplex search algorithm, and steps are as follows:
outputting an initial value by using the Nelder-Mead simplex search algorithm for iteration;
iterating, based on a discretized vehicle dynamics model, a Hamiltonian function and an optimal control input expression obtained by fast solving, the initial value to obtain a terminal value;
determining the terminal value according to the terminal conditions, and if the terminal value does not meet the terminal conditions, returning to the Nelder-Mead simplex search algorithm for continuous search; and
when the Nelder-Mead simplex search algorithm reaches a maximum number of iterations or meets the terminal conditions, outputting the optimal initial value of the Lagrangian multiplier.