マルチボディダイナミクスを用いた路面入力の推定

抄録

An accurate grasp of a road profile is important because road condition such as an unevenness cause vibrations affecting the vehicle stability and the ride comfort. As a related study on road profiles, a specialized vehicle equipped with laser sensors was developed in order to measure the cracks, ruts, and flatness of roads. In this paper, a cost-effective estimation method of a road profile from the measurment data was proposed. In the proposed method, the estimation is performed with only inexpensive sensors that can be mounted on general cars. The road profile is estimated by using a disturbance observer and multibody dynamics analysis. First, the road profile is estimated with a disturbance observer based on a simple model. After this process, the road profile is corrected with an iteration process by using a multibody model based on a trailer developed in our laboratory. In order to evaluate the validity of the estimation method, running tests were conducted with the trailer. The estimated road profile was compared to an actual road profile, and the accuracy of the estimated road profile was evaluated.