移動サービス向け自動運転車両における乗客の車内転倒防止のための運動制御

抄録

This study focuses on a driver-less shuttle (level 4 driving automation) with four-wheel-drive in-wheel motors. We aim to construct a control law for a braking/driving force distribution of the front and rear wheels to prevent passengers from falling over inside the shuttle. The previous paper modeled the shuttle by using a half-car model which considers the braking/driving force to establish the equation of motion and a passenger by using a rigid body. This study introduces a zero-moment point (ZMP) of the passenger system as an evaluation index for the possibility of falling over inside the shuttle. To suppress the evaluation index value, the present manuscript applies a 2DOF control system which consists of an optimum regulator as a state feedback controller and a feedforward controller derived from the inverse model. Numerical simulation is performed to verify the effectiveness of the proposed control method.