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

Claim 3:
4. The longitudinal and lateral vehicle motion cooperative control method according to claim 1, wherein expressions of the nonlinear optimization problem are as follows:, min
   ⁢
   L
  
  =
  
   
    ∑
    
     
      k
      i
     
     =
     
      k
      +
      1
     
    
    
     k
     +
     N
    
   
   
    [
    
     
      
       Γ
       1
      
      ⁢
      
       
        L
        1
       
       (
       
        k
        i
       
       )
      
     
     +
     
      
       Γ
       2
      
      ⁢
      
       
        L
        2
       
       (
       
        k
        i
       
       )
      
     
     +
     
      
       Γ
       3
      
      ⁢
      
       
        L
        3
       
       (
       
        k
        i
       
       )
      
     
     +
     
      
       Γ
       4
      
      ⁢
      
       
        L
        4
       
       (
       
        k
        i
       
       )
      
     
    
    ]
   
  
 

 
  
   
    
     s
     .
     t
     .
    
   
   
    
     
      
       -
       
        
         ∇
         
          y
          ,
          up
         
        
        ≤
        
         x
         2
        
       
      
      ⁢
      
       (
       
        k
        i
       
       )
      
     
     ≤
     
      ∇
      
       y
       ,
       up
      
     
    
   
  
  
   
     
   
   
    
     
      -
      
       u
       up
      
     
     ≤
     
      u
      ⁡
      (
      
       k
       i
      
      )
     
     ≤
     
      u
      up
     
    
   
  
 

in the formulae, L1(ki), L2(ki), L3(ki) and L4(ki) represent objective function sub-terms of a tracked yaw rate, a tracked lateral speed, a control input, and a control input change rate, respectively, Γ1, Γ2, Γ3 and Γ4 represent a yaw rate tracking weight coefficient, a lateral line speed tracking weight coefficient, a control input weight coefficient, and a control input change rate weight coefficient, respectively, Vy,up and uup represent an upper limit value of the lateral speed and an upper limit value of the control input, respectively, N represents the prediction horizon, and κ represents an actual slip ratio at a current moment, and κi represents an actual slip ratio at a current moment of a tire represented by the subscript of i.