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Abstract : Vol.40No.4(2005.12)
Special Issue：Estimation and Control of Vehicle Dynamics
for Active Safety
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Review
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| P.1 |
Estimation
and Control of Vehicle Dynamics for Active Safety |
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One of the most fundamental approaches
to increasing automobile safety involves improving the
basic performance of the automobile itself, that is,
its "running, cornering, and stopping." This
article describes how we derived the control system
requirements that are necessary to avoid spin, which
is essential to vehicle performance, by analyzing vehicle
stability, and also explains a hierarchical control
system configuration for satisfying the control system
requirements for improving the active safety performance
of vehicles. It also clarifies the positions of the
researches featured herein within a control system configuration.
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Research Reports
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| P.7 |
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Eiichi Ono, Yoshikazu Hattori, Yuji Muragishi
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To improve the performance of vehicle dynamics control
systems, it is important to be able to estimate the
friction force characteristics between the tires and
the road. In this paper, we estimate the radius of the
tire friction circle by using the relationship between
the Self-Aligning Torque (SAT), and the lateral and
longitudinal forces acting on each tire. Then, we propose
a vehicle dynamics control system for four-wheel distributed
traction/braking and four-wheel distributed steering
that is based on an on-line nonlinear optimization algorithm
that minimizes the maximum μ rate of the
four tires by using the estimation of the radius of
the tire friction circle.
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| P.14 |
Detection
of Tire Lateral Force Based on a Resolver Mechanism |
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Takaji Umeno
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To observe the frictional state of a tire and improve
the active safety control system of a vehicle, it is
necessary to sense the tire-generated forces.
This paper presents a technique for detecting a lateral
tire-force. This is based on the resolver mechanism
that is used as a rotational speed sensor for a wheel.
It is realized simply by replacing a conventional wheel
speed sensor, and can detect tire lateral force by magnetically
sensing the positional offset of the rotating shaft
that occurs due to the stiffness of the shaft and axle
hub bearing. Therefore, there is no need for complex
machining and the system can accommodate variations
in the tire characteristics caused by changes in temperature,
inner pressure, aspect ratio, and so on. The principle
of the technique has been confirmed by experiments on
a tire test machine and on a test vehicle.
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| P.20 |
Study
of the Performance of a Driver-vehicle System for Changing
the Steering Characteristics of a Vehicle |
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Katsuhiko Fukui, Toshimichi Takahashi
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To improve the controllability,
stability and safety of driver-vehicle systems in a wide
range of driving scenarios, we undertook an investigation
to determine the appropriate characteristics for an Active
Front Steering system using a driving simulator and between
10 and 36 regular drivers. The control logic for the actual
steering angle of the front wheels and for the reaction
torque of the steering wheel were varied and the vehicle
behavior and drivers' reactions were measured and analyzed
for scenarios involving the drift-out and spin of a vehicle
while cornering on a simulated low-frictional surface,
as well as when braking on a so-called split μ
road. Our findings allowed us to establish the appropriate
steering system characteristics for the given cases.
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| P.26 |
Optimum
Vehicle Trajectory Control for Obstacle Avoidance Problem |
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Yoshikazu Hattori, Eiichi Ono, Shigeyuki
Hosoe
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In this paper, a new vehicle control
algorithm for avoiding an obstacle within the shortest
possible travel distance is proposed. The algorithm
consists of two steps. In the first step, the optimal
vehicle trajectory and the corresponding force and moment
of the vehicle are determined using second-order cone
programming. In the second step, the computed force
and moment are distributed into each tire force, while
using sequential quadratic programming with a pseudo-inverse
matrix for the derivation.
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