ドライバ操舵に対する車両挙動の位相遅れと高周波ゲインが運転しやすさに及ぼす影響

概要

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This paper describes an investigation of the nonlinear filter that can design for gain and phase independently. In the driver-vehicle closed-loop system, it is reported that the phase delay of vehicle has an optimal value and reduces vehicle maneuverability if too large or too small. However, there is a deep relationship between the gain and phase delay in a linear system. It is difficult to evaluate the gain and phase delay of vehicle response independently. In this investigation, we tried to design a non-linear filter that can resolve the deep relationships between the gain and phase delay. We investigate the each effect of the gain and phase delay corresponding to the steering angle input on the ease of driving by using driving simulator, and evaluate the sensory evaluation and control performance on the lane change task. We verified the improvement of ease of driving by reducing a phase delay and decreasing a high frequency gain.