Abstract
Intelligent vehicle systems, such as the automatic driving system are expected to the solution of current traffic problems. The key of those systems is reliability. This paper investigates the possibility of improving reliability by using the features of electric vehicles (EV). EV with two motors can generate traction forces independently at left and right wheels and can control yaw moment adequately when a steering system is broken. The turning performance is evaluated in respect to vehicle's velocity, difference of traction force. and steering condition by simulations and experiments. It is clarified that the lane-keeping can be realized by traction-force-distribution control. Lane-keeping controller by distribution of traction force is proposed and validated by simulations. The fruit of this study improves reliability of automatic driving and shows the EV's advantage towards future vehicle systems.
