四輪操舵車両の車線自動追従制御の検討 : 横運動とヨー運動の理論的考察(機械力学,計測,自動制御)

概要

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This paper investigates the use of four-wheel-steering system for the control of vehicle, in the context of automatic lane-keeping. Four-wheel-steering system provides two independent control inputs which can much enhance handling and stability, thus it is expected that such system can also provide satisfactory lane-keeping performance. Here, lateral deviation of front and rear virtual points are proposed to be state variables in control system design procedure instead of lateral deviation at center of gravity and yaw deviation. As a result, decoupling of lateral and yaw motion control can be realized during lane-keeping maneuver. Finally, simulations in straight and curved lane-keeping are conducted to investigate the validity of the proposed control system.
一般社団法人日本機械学会の論文
2003-05-25