ステアバイワイヤによる二輪車の操縦安定性向上に関する研究（第３報，ロール角とヨーレイトを線形結合した制御量の提案）

抄録

This study examines a controlled variable for the steering control of two-wheeled vehicle using Steer-By-Wire (SBW) technology. Computer simulation using a simple vehicle model with two cases, the controlled variable is the rolling angle or the yaw rate, are examined. The rolling angle control realizes the good tracking performance to the desired rolling angle, while it deteriorates the yaw rate damping and makes the transitional large steering torque input. The yaw rate control performs the good damped response, while the tracking performance to the desired yaw rate is limited. A novel controlled variable is proposed with a linear combination of the rolling angle and the yaw rate. Controlling this controlled variable realizes not only the good tracking performance, but also the damped vehicle response.