大局的姿勢安定化制御による自動車の車両運動制御の研究（二脚ロボットの歩行制御技術の車両運動制御への応用）

抄録

In order to improve handling and stability not only in autonomous vehicles but also in manual vehicles, research had been conducted to appropriately control the two state quantities of vehicle body slip angle and yaw rate. By constructing a state feedback system that centrally controls these two states and applying the walking control technology of a biped robot, natural, smooth and good handling and stability was realized regardless of the driver. In addition, by setting the feedback gain that does not depend on the coefficient of friction of the road surface, it was possible to construct a relatively simple control system without considering the case classification according to the condition of the road surface.