トレーラ牽引車両の旋回安定性向上に向けた横加加速度に基づく後輪操舵制御の実車検証

抄録

In the automotive market, it is important to ensure safety and reduce traffic accidents. For trailer-towing vehicles it is strongly required to prevent unstable phenomena such as jackknife and rollover. To improve the vehicle/driver stability of a trailer-towing vehicle, a rear steering control method was developed. From the idea of G-Vectoring control and moment plus control, the developed rear control method is composed of front wheel proportional control and lateral jerk based control, to achieve high agility in turn in condition and high stability in turn out condition. First, the proposed method was evaluated through open loop characteristics by numerical simulation. The results were used to consider the impact of the parameters (gain and time constant) used in the control method. Then, the proposed control method was analyzed in highway ramp scenarios. The result was evaluated by vehicle conditions (quantitative evaluation) as well as expert driver comments (qualitative evaluation). Vehicle evaluation insisted that in turn out conditions, the yaw convergence improved, leading to driver assistance in order to correct the vehicle position.