2203 モデルマッチング制御手法による四輪操舵車両の車線自動追従制御の検討(OS0 交通・物流機械のダイナミクス,振動,騒音,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-tracking. 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-tracking performance. In this paper, the lane-tracking control system is designed on the basis of the four-wheel-steering automobile whose desired steering response is realized by the application of model matching control. Two representative desired steering responses are proposed in this paper. Finally, simulations in lane-tracking and theoretical analysis are conducted to investigate the effectiveness of the proposed control system.
一般社団法人日本機械学会の論文
2001-12-04