Development of Vehicle Motion Control Method using Driving Force of In-Wheel Motors

Masaru Yamasaki･Toshiyuki Ajima･Wataru Hatsuse (Hitachi)

In order to control the 3 DoF motion of a vehicle to improve the vehicle characteristics, developed posture and motion control method using the jack-up force generated by the drive reaction force of in-wheel motors. In this presentation, report the torque control method based on jerk in both longtudinal and lateral directions is developed, and the effectiveness of the method is verified on a test vehicle.

Front/Rear Driving Force Distribution Control Based on Tire Workload Considering Vehicle Behavior in the Turning Limit

Kohei Sakaguchi･Takuma Takeuchi･Etsuo Katsuyama (Toyota Motor)

In the turning limit, front-wheel-drive vehicles tend to have strong understeer characteristics, and rear-wheel-drive vehicles have weaker understeer characteristics, resulting in consistent vehicle behavior. On the other hand, four-wheel-drive vehicles have a small difference in front and rear tire workload, and its steering characteristics are inconsistent. In this paper, we proposed a design method for front/rear driving force distribution based on tire workload in order to control vehicle behavior in the turning limit.

Cornering Stability Enhancement Utilizing Restoring Yaw Moment Generated by LSD's Driving Torque Distribution

Koki Yamamoto･Naoki Hiraga･Koji Takahashi･Daisuke Umetsu (Mazda)･Makoto Yamakado･Masato Abe (Kanagawa Institute of Technology)･Isao Hirota (GKN Driveline Japan)

LSD is a well-known system, and the vehicle cornering motion can be stabilized by its yaw restoring moment effect. We focused on this mechanism and applied a newly developed mechanical LSD unit for a rear-wheel drive vehicle. The unique point of this LSD is that the torque distribution characteristics can be set independently between the driving and braking directions. In this paper, we introduce the implementation result of this LSD and its effect on vehicle handling performance enhancement during cornering with acceleration or deceleration.

Optimal Trajectory Generation of Competition Vehicles using Intra-Convex Domain Constraint

Masanori Harada･Yoshihide Arai･Takashi Sago･Yuki Ueyama (National Defense Academy of Japan)

This study investigates the optimal trajectory of competition vehicles as an optimal control problem and generates it through optimization computations. For a course layout with a mixture of straight and curved shapes, we apply an intra-convex domain constraint method to drive the vehicle within the given course. Numerical results show that the proposed method can easily generate the same optimal trajectory as in previous studies.

Study on Vehicle Stability Control for Towing Vehicles using Trailer Parameter Estimation

Kota Kaga (J-QuAD DYNAMICS)･Terutaka Tamaizumi (JTEKT)･Atsuto Hirota (Advics)･Nobuhiro Nitta (J-QuAD DYNAMICS)

Towing vehicles exhibiting unstable behavior are the subject of study on stability control. However, in actual driving, there is still a challenge in maintaining control performance due to fluctuations in trailer parameters such as changing trailer load.
In this study, we analyze the behavior of the towing vehicles with models to evaluate the impact of parameter variations. Using by these results, we propose a method to estimate the key parameters of the trailer and develop a more robust vehicle stability control than ever before.