US 12,109,997 B2
Path tracking control method and device for intelligent electric vehicles
Xuan Zhao, Xi'an (CN); Shu Wang, Xi'an (CN); Jian Ma, Xi'an (CN); Rui Liu, Xi'an (CN); Yilin He, Xi'an (CN); and Chenyu Zhou, Xi'an (CN)
Assigned to CHANG'AN UNIVERSITY, Xi'an (CN)
Filed by CHANG'AN UNIVERSITY, Xi'an (CN)
Filed on Apr. 3, 2024, as Appl. No. 18/625,974.
Application 18/625,974 is a continuation of application No. PCT/CN2023/118321, filed on Sep. 12, 2023.
Claims priority of application No. 202211509662.2 (CN), filed on Nov. 29, 2022.
Prior Publication US 2024/0253604 A1, Aug. 1, 2024
Int. Cl. B60W 30/02 (2012.01); B60T 8/1755 (2006.01)
CPC B60T 8/17551 (2013.01) [B60T 8/17552 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A path tracking control method for an intelligent electric vehicle, comprising:
determining a lateral stability state of a vehicle, wherein the lateral stability state comprises a stable state, a critical-destabilized state, and a destabilized state;
performing path tracking control on the vehicle according to the lateral stability state of the vehicle;
determining, when the vehicle is in the stable state, a front wheel steering increment of the vehicle; and determining a front wheel steering of the vehicle based on the front wheel steering increment of the vehicle;
determining, when the vehicle is in the critical-destabilized state, a first yaw moment increment and an additional yaw moment weighting coefficient of the vehicle; determining a first additional yaw moment based on the first yaw moment increment and the additional yaw moment weighting coefficient; and determining a first longitudinal force on each wheel of the vehicle based on the first additional yaw moment; and
determining, when the vehicle is in the destabilized state, a second yaw moment increment of the vehicle; determining a second additional yaw moment based on the second yaw moment increment; and determining a second longitudinal force on each wheel based on the second additional yaw moment;
wherein the stable state is determined by

OG Complex Work Unit Math
the critical-destabilized state is determined by

OG Complex Work Unit Math
and
the destabilized state is determined by

OG Complex Work Unit Math
wherein β represents a center-of-mass sideslip angle of the vehicle; β represents a center-of-mass sideslip angular velocity; k represents a slope; c is constant; and μ represents a road surface adhesion coefficient.