Abstract
Although the additional centering torque proportional to the provisional lateral acceleration (PLA) has been proposed for personal mobility vehicles (PMVs) those tilt inward according to the steering angle, it has not been clarified how to give hysteresis that greatly affects the driver's feeling. In this paper, the counter torque proportional to the actual tilting angle is proposed to cancel the excessive hysteresis caused by the delay in inward tilting motion of the vehicle, based on analyzing the factors those cause steering torque hysteresis such as vehicle behavior. This makes it possible to secure the adjustment allowance for steering friction in the actual vehicle.
