Modeling of vehicle-passenger system for countermeasures to prevent passengers from falling over in a driver-less shuttle

Abstract

This paper focuses on a driver-less shuttle (level 4 driving automation) with four-wheel-drive in-wheel motors. We aim to construct a control law for a braking/driving force distribution of the front and rear wheels to prevent passengers from falling over inside the shuttle. Therefore, this manuscript models the shuttle by using a half-car model which considers the braking/driving force to establish the equation of motion and a passenger by using a rigid body. The passenger system uses a zero-moment point (ZMP) to set an evaluation index for the possibility of falling over inside the shuttle.