可変フィードバックゲインを用いた車両の目標動特性設計方法の提案

概要

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This paper describes an investigation of filter to design a relationship of gain and phase delay. In a linear system, gain and phase delay are deeply related. So, if the phase delay is reduced, the gain of high frequency range is increased unnecessarily. We clarified that an increase of high frequency gain makes ease of driving worse, by using non-linear filter that can design characteristics of gain and phase delay independently. When considering a practical use, it is necessary to propose new filter to be able to change this relationship easier and to evaluate filter's performance analytically. In this investigation, we proposed two kinds of filters. We have studied how gain and phase delay of yaw rate corresponding to steering angle input affect on ease of driving, from subjective rating and identification of driver dynamics on lane change task. We verified that ease of driving can be improved by shaping phase delay and high frequency gain properly to the driver's characteristics.