適応前輪操舵系による車両運動の制御

概要

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This paper presents a new control method by an adaptive front steering system. Two types of model reference adaptive steering systems are proposed in this paper : one type puts emphasis on yaw rate of the vehicle which a driver perceives dominantly under ordinary driving conditions : and another one puts emphasis on lateral acceleration of the vehicle which a driver perceives dominantly under critical driving conditions, such as obstacle avoidance. The parameters of the vehicle are treated as unknown and are identified by the least square method with a time variant forgeting factor. The control method used in this paper is a pole assignment type adaptive self-tuning control method. Simulation results show that the running safety is improved significantly and that the driver burden is decreased under critical driving conditions.
一般社団法人日本機械学会の論文
1992-10-25