抄録
This paper describes the development of a vehicle model for a steering control system on the platooning system of a heavy truck of the energy ITS project, which is targeted at CO2 reduction and energy saving. For a vehicle model used for some control systems, not only reproducing the state quantity of a real vehicle accurately but also the parameter identification method and the real time calculation are the important factor. The proposed model is a physical model with minimum dimensions and it describes the planar motion of the vehicle. In the vehicle model, the sideslip characteristic and steering characteristic were obtained from the measurement data by a steady-state turning test performed using an experimental vehicles for obtaining the equivalent cornering stiffness. The vehicle model corresponded to the measurement data of the experimental vehicle. Therefore, it was confirmed that the vehicle model had a high performance in the identification accuracy.
