計測自動制御学会論文集
Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654
論文
非線形モデル予測制御を用いた車両限界域制御と最速走行のための制御
住岡 忠使細谷 知之母里 佳裕
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ジャーナル フリー

2017 年 53 巻 7 号 p. 385-397

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In this paper, we propose a vehicle motion control method considering stability at the limit state using nonlinear model predictive control. In order to consider the vehicle limit state, a vehicle model is defined by using a nonlinear tire model that considers combined slip etc. The steering angle and the slip rates of each wheel at the limit lateral acceleration state are calculated on the numerical simulations. In addition, as an application example of the proposed method, results of running a circuit course at the fastest speed using curvature minimum path generation algorithm is demonstrated. Simulation results show that the proposed method can run at the speed at the lateral acceleration limit according to the course shape and it is able to run on the out-in-out trajectory.

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© 2017 公益社団法人 計測自動制御学会
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