車両状態量フィードバック方式のタイヤカ直接制御を用いた自動車の路面外乱安定性

概要

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We announced that a method to control the right and left difference distribution of braking forces and the four-wheel-steering cooperatively made it possible to improve the steering response and stability of automobiles better than systems controlling only the four-wheel-steering. Also, it was confirmed that when the vehicle applied this control system the good control effects were achieved even in the case of a lane change on low frictional roads with urgent braking and steering behaviours. Furthermore, in this paper, we clarify that the above mentioned control method is effective on vehicle stability during computer simulation of disturbance from a road surface. So, carrying out a detailed analysis of cornering with braking, a vehicle dynamics model in consideration of the slip ratio of tires is constructed first. Next, the characteristics of braking stability on two-wheel-steering, four-wheel-steering, and BSC vehicles are examined and compared by our calculation, in the cases of going straight at the fixed steering and of the steering operation on a split μ road surface which is used for braking stability evaluation and so on.
1997-12-20