2P1-F08 ジョイスティック式自動車運転装置の開発 : 走行の安全性に関する検討(福祉ロボティクス・メカトロニクス(1))

概要

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In this research, the safety of Joystick car drive system was evaluated. This joystick operation system is able to make a physically handicapped person drive a car using a joystick lever. However, the system may include potential danger of rollover of a car when high-speed running because of small-force operation and narrow range of a joystick. To solve this problem, we propose steering control algorithm based on a vehicle velocity. First, we make a dynamic model of rollover in the running car and get theoretical formula when rollover. From the model, we get critical steering angles depending on the vehicle velocity. To restrict steering angle based on theoretical formula, we prepare two types of joystick sensitive and they was applied to the system.
一般社団法人日本機械学会の論文
2011-05-26