電気自動車における Minimax 問題の解の性質を利用したタイヤ負荷率最小化のための駆動力及び横力配分の高速解法

抄録

In this paper, a novel driving force and lateral force distribution method is proposed. Four wheel independent driving and front and rear active steering enable vehicle to have a redundant control input. This redundancy should be used so that maximum tire workload becomes minimizing for vehicle stabilization. However, conventional distribution method has been used minimizing sum of squares method. Therefore, a fast distribution method using the property of an infinity norm, Equal Magnitude Property, minimizing maximum tire workload is proposed. The effectiveness is verified by simulations and experiments.