自動操縦システムの軌跡追従制御による車両運動性能評価

抄録

In this paper, we propose a method to evaluate vehicle dynamics performance using trajectory tracking control of autopilot system. In recent years, high performance is required as a need for vehicle. In the past, vehicle dynamics performance evaluation often relied on human driving, making quantitative evaluation difficult. Therefore, the autopilot system that controls the steering and pedals in a closed loop control was used to minimize the variation. The vehicle dynamics performance was evaluated from the steering stability tests such as "Straight" and "Lane change".