砂地走行用タイヤモデルを用いた駆動力制御に関する研究

抄録

The driving force control improves the off-road vehicle traveling performance and driving efficiency. However, the studies on the driving force control have been developed for the vehicle mainly on rigid roads. This paper describes a method of driving force control for the independent wheel drive vehicle on dry sand. The proposed method is based on the tire model on dry sand. In this method, tire sinkage is estimated by measuring slip ratio and vertical load. Using the estimated sinkage value, the slip ratio which generates the target driving force is calculated and controlled. Straighttraveling tests on flat sandy ground were carried out by using a model vehicle in order to examine the proposed method. The results of proposed method were compared with the results from even torque control and even wheel rotation speed control. As the results, it was found that the proposed method was the most efficient on the flat sandy ground.