Abstract
The Automatic Obstacle Avoidance System (AOA) using the brake system is developed and made a reality in low speed area but the system using the steering system is not built as the sophisticated theory. This study focuses the steering system and targets AOA by a steered vehicle which is called 'Active Torque Steer (ATS)'. The wheel on both sides of ATS vehicle is equipped with independent in-wheel-motor generating longitudinal force and with scrub radius which is distance of between center of tire ground contact area and tire rotation center. ATS vehicle generates direct yaw moment by using in-wheel-motors and scrub radius. We analyzed AOA of ATS vehicle and compared it with Active Front Steer (AFS) vehicle and DYC vehivle (which is not by in-wheel-motors but by traction and braking force) by simulations of obstacle avoidance. As a consequence, the steer moment and force usage of front tire by ATS vehicle is smaller than that by AFS vehicle and DYC vehicle.
