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

Claim 2:
3. The longitudinal and lateral vehicle motion cooperative control method according to claim 1, wherein an upper limit value of the desired yaw rate is defined as, γ
    up
   
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      μ
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  ,, and a constraint met by the desired yaw rate γref is |γref|≤γup, wherein μ represents a friction coefficient of a road surface, g represents a gravity coefficient, and Vx represents a longitudinal speed of the vehicle.