制動力左右輪配分と四輪操舵との協調制御を適用した車両の操舵応答安定性

抄録

A simple and practical method to control the right and left distribution control of braking forces and the four-wheel-steering cooperatively is proposed to improve the steering response and stability of automobiles. Our theory of four-wheel-steering is composed of the feedforward control function on steering angle and the feedback control function through the difference of actual and target yaw rates. Also, direct yaw moment which uses yaw rate feedback control is configured to augment control of four-wheel-steering. According to our analysis and computer simulation, it can be confirmed that when the vehicle applied this control system an improvement of the maneuverability and stability on cornering behaviours with braking was realized. In addition, we investigate that this system makes it possible to achieve good control effects on low frictional roads.