シャシ統合制御車両の最適制御による限界性能比較

抄録

Since the limit performance of an integrated chassis control vehicle depends on the combination of control inputs such as steering angle, braking torque, and so on, it is important to clarify how the combination of control inputs affects the limit performance. In this study, the performances of integrated chassis control systems with various input combinations are evaluated in an obstacle avoidance situation. The obstacle avoidance problem is formulated as an optimal control problem that maximizes the avoidable obstacle width at the predefined distance and is solved by using a numerical optimization technique. In the optimization, a full-vehicle model equipped with actuators that can independently control the steering angles, braking torques, and active suspension forces of four wheels is used, and the optimization results are compared for various combinations of control inputs. From the optimization results for four combinations of control inputs, the effects of integrated control are examined.