ステアバイワイヤによる二輪車の操縦安定性向上に関する研究 : 第2報,ライダ操縦モデルによる車線維持性能の評価(機械力学,計測,自動制御)

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This study discusses the effects of the Steer-By-Wire (SBW) technology on the lane keeping performance for two-wheeled vehicles by examining computer simulation with a rider-vehicle system which consists of a simplified vehicle model, a rider control model and the controller of the SBW system. The SBW system, which compensates the rolling angle deviation between the desired rolling angle intended by the rider and the actual rolling angle, improves the lane keeping performance of the rider-vehicle system in comparison with conventional two-wheeled vehicles under the steering torque disturbance. The SBW system is, on the other hand, not effective for the lane keeping performance under the lateral force disturbance. In addition, the Lane-Keeping-Assistance (LKA) system is applied to the SBW system and the cooperativeness of the SBW and the LKA systems is examined. The LKA system improves the lane keeping performance of the SBW system under not only the steering torque disturbance but also the lateral force disturbance.
2009-11-25