自動と手動運転が混在する自動車用操舵装置の研究 : 外乱に起因する車両挙動変化の抑制

概要

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We have developed an intelligent autonomous steering system with the flexibility to deal with a variety of environmental conditions. This system uses intelligent lateral control to compensate for external torque disturbances directly using our current steering torque control strategy. A three-phase brush-less motor is used instead of a direct current brushed motor. It has lower inertia and higher power, providing better response and higher accuracy. Two hollow type sensors are positioned on either side of the hydraulic valve torsion bar to provide angular position, and torque information to the system. By simulating various environmental changes, we found that this system produces good vehicle stability. While compensating for environmental variations, like crosswind, the system also allows the driver to control direction by differentiating between the drivers intention to steer, and these environmental variations. We have confirmed that basic performance of the system and the effects of each system function.
一般社団法人日本機械学会の論文
1999-11-25