Abstract
Drive/brake-by-wire technology is a driving/braking control technology designed to improve the maneuverability and stability of an automobile. With using drive/brake-by-wire technology, driving/braking control can be actively performed against changes in the road surface and physical parameter errors. It can be used to construct a system that is independent of the driving ability of the driver and that reduces the driver ' s load by performing corrections based on changes in the driving situation. In conventional studies, driving/brake-by-wire technology has been considered for vehicle velocity tracking control, where the vehicle velocity was tracked to the reference model velocity in order to develop a control method for switching the velocity controller and slip-ratio controller to prevent wheel slip based on changes in the driving situation. However, one problem was that only braking was considered without driving. In addition, the systems were not robust against physical parameter errors and changes in the driving situation. In this paper, we propose a vehicle velocity tracking control method that considers both driving and braking and is robust against physical parameter errors and changes in the driving situation. Similar to the conventional studies, we realize vehicle velocity tracking control by switching between a vehicle velocity controller and slip-ratio controller according to changes in the driving situation.
