J181012 運転者による車両操縦動作のモデリングと安定度指標([J18101]交通物流における安全安心技術(1))

概要

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In this study, we derive a curvature output type vehicle handling model for the theoretical study of a driver-vehicle system in the lane following driving mode, and the parameters are set using the stability of the whole system as the optimization index. We employ Pade approximants to account for the time delay element in the human model, and the bicycle vehicle model is reduced to a second order system. We determine the gain constant from geometric relations between the vehicle, lane and point of regard. The characteristic equation of the whole system is derived; this equation is rearranged as algebraic relations that correspond to the quintic root of the characteristic equation. The system of equations is solved to determine the parameter values for a given condition. Further, we show the basic characteristics of the model by means of numerical examples for a single lane change.
一般社団法人日本機械学会の論文
2011-09-11