砂地におけるタイヤの最小回転速度を利用したスリップ抑制法

抄録

A driving force distribution and traction control system have been developed in order to suppress a slippage of a tire and improve traveling performance of a vehicle. This paper proposes a method combining the driving force distribution based on tire workload and traction control system on dry sand. In the traction control system, torque of tires are controlled using the slip ratio, and the vehicle velocity is needed in order to calculate the slip ratio. However, the off-road vehicle is generally the four wheel drive vehicle, and the vehicle velocity is not able to be detected using a passive wheel. It was found that when the driving force distribution is applied, minimum circumferential velocity of all tires was approximately the same as the vehicle velocity by straight-traveling tests using a model vehicle with the driving force distribution on a flat and sandy ground. Therefore, the minimum circumferential velocity of all tires was used as the vehicle velocity in this study. Straight-traveling tests using a model vehicle with the driving force distribution and the traction control system to evaluate the effectiveness of the proposed method. The experimental results revel that the proposed method improves traveling performance.