Path tracking control method and device for intelligent electric vehicles

A path tracking control device for an intelligent electric vehicle, comprising:

• a lateral stability state determination module;
• and
• a path tracking control module;
• wherein the lateral stability state determination module is configured to determine a lateral stability state of a vehicle, wherein the lateral stability state comprises a stable state, a critical-destabilized state, and a destabilized state;
• and
• the path tracking control module is configured to perform path tracking control on the vehicle according to the lateral stability state of the vehicle, determine a front wheel steering increment of the vehicle when the vehicle is in the stable state, determine a front wheel steering of the vehicle based on the front wheel steering increment of the vehicle, determine a first yaw moment increment and an additional yaw moment weighting coefficient of the vehicle when the vehicle is in the critical-destabilized state, determine a first additional yaw moment based on the first yaw moment increment and the additional yaw moment weighting coefficient, determine a first longitudinal force on each wheel of the vehicle based on the first additional yaw moment, determine a second yaw moment increment of the vehicle when the vehicle is in the destabilized state, determine a second additional yaw moment based on the second yaw moment increment, and determine a second longitudinal force on each wheel based on the second additional yaw moment;
• wherein the stable state is determined by
• 0
• <
• ❘
• "\[LeftBracketingBar]"
• 1
• c
• ⁢
• β
• ˙
• +
• k
• c
• ⁢
• β
• ❘
• "\[RightBracketingBar]"
• ≤
• μ
• ;
• the critical-destabilized state is determined by
• μ
• <
• ❘
• "\[LeftBracketingBar]"
• 1
• c
• ⁢
• β
• ˙
• +
• k
• c
• ⁢
• β
• ❘
• "\[RightBracketingBar]"
• ≤
• 1
• ;
• and
• the destabilized state is determined by
• ❘
• "\[LeftBracketingBar]"
• 1
• c
• ⁢
• β
• ˙
• +
• k
• c
• ⁢
• β
• ❘
• "\[RightBracketingBar]"
• >
• 1
• ;
• wherein β represents a center-of-mass sideslip angle of the vehicle;
• {dot over (β)} represents a center-of-mass sideslip angular velocity;
• k represents a slope;
• c is constant;
• and μ represents a road surface adhesion coefficient.