拡張カルマンフィルタを用いたタイヤ発生力推定モデルの開発（第二報）

北野　翔太・糸賀　秀樹・日比野　貴則・桑原　一樹・金子　広孝（トヨタ自動車）

第一報より，8自由度車両モデルに拡張カルマンフィルタを併用することで，タイヤ発生力を高精度に推定できることがわかった．一方で，カルマンフィルタの精度に依存するシステム共分散Qと観測共分散Rに関しては明確な決定手法が無く，質疑においても多くの議論を行った．本講演では，QとRの決定方法について推定誤差共分散と観測予測誤差共分散を用い，最適化手法を適用することにより，十分な精度を実現できるQとRの決定方法を発表する．

電子制御式カップリングAWDの前後締結度が車両運動に与える影響

平賀　直樹・山本　航輝・岡崎　大地・砂原　修（マツダ）・石井　遂也・山門　誠・狩野　芳郎・山本　真規・安部　正人（神奈川工科大学）

電子制御式カップリング搭載のAWD車は，カップリング締結による前後差動制限力に応じた前後輪軸間の回転拘束によってトルク伝達が発生し，車両の平面運動およびばね上運動に影響を及ぼす．本研究では，この影響を分析するとともに，G-Vectoring制御と協調するカップリング制御の有効性を検証した．

ブレーキG-Vectoring制御がダブルレーンチェンジ試験性能に及ぼす影響

間島　陽希・源平　伊吹・安部　正人・狩野　芳郎・山本　真規・山門　誠（神奈川工科大学）・柴田　知寿・水野　陽一（トヨタ自動車）

ブレーキG-Vectoring制御がダブルレーンチェンジ試験性能に及ぼす影響を評価した．ISO 3888-2（エルク試験）に基づく実車試験により，制御有無で通過速度や操舵操作，車両挙動を比較し，操舵初期の回頭性向上など「意のまま感」を高める挙動改善が確認され，本制御が性能向上に寄与する要因を示した．

Development of an AI-based bushing dynamic stiffness prediction model to improve modeling efficiency for R&H simulations

MIREU KIM･TAEMIN JEONG (Hyundai Motor)

Recently, as AI technology has advanced, attempts to incorporate AI technology into the vehicle modeling process in the CAE field have increased. Previously, the static or dynamic characteristics of vehicle parts were expressed in the form of mathematical functions and substituted with equivalent models. However, this type of modeling technique has limitations in expressing the complex nonlinear dynamic characteristics of vehicle parts. Therefore, this paper proposes a new modeling technique by introducing AI technology to the existing modeling technique and shows that the efficiency of vehicle parts characteristic modeling can be improved.

AN INVESTIGATION OF REAL-TIME ESTIMATOR ON MAXIMUM TIRE GRIP FOR YAW MOMENT CONTROL

JAE YONG PARK･SUNG HO PARK (Hyundai Motor)

The research for determining a driving vehicle's maximal and current tire grip in real-time is presented in this paper. When driving at medium and low speeds, wheel slip is not a major issue for direct yaw moment control (DYC), which is dependent on sensing it. However, frequent wheel slips have a major negative impact on driving performance when driving a high-performance car at high speeds or on a racetrack. Because it is unable to produce more driving and steering force to the tire when it loses grip. Thus, driving performance can be greatly enhanced if the tire operating force of each wheel can be measured in real-time and the tire friction saturation limit can be accurately determined. In this study, a precise tire friction limit model is constructed to better limit driving handling performance using DYC, and the accuracy of the estimation on the current tire grip is validated using actual vehicle measurements.

エネルギー伝達モデルに基づく車両運動の過渡応答解析

山崎　徹（神奈川大学）・小瀬川　篤（神奈川大学大学院）・荒木　雄大（神奈川大学工学部）

本研究では，既報で構築したエネルギー伝達モデルを定常応答から過渡応答へ拡張し，操舵入力やロール外乱に対するスリップ角・ヨーレート・ロール角エネルギーの時間変化を評価し，設計指針を検討する．

Design of an Integrated Steering-Suspension Corner Module

Haoyang Lv･Jianyuan Liu･Jingran Wang･Kaipeng Wang･Hongyuan Jiang･Zihong Zou･Zhouyi Zhen･Mingyan Hu･Mengjian Tian (Shenzhen Technology University)

The steering–suspension design of electric-drive corner modules faces an inherent kingpin parameter conflict: increasing scrub radius for high maneuverability compromises steering lightness and brake stability. This hinders simultaneous high maneuverability and high-speed stability. To address this, a novel dual-kingpin, two-stage integrated suspension steering mechanism is proposed. The primary kingpin is determined by a multi-link suspension, and the assembly, mounted on a supporting component, steers about the secondary kingpin via a crank-rocker linkage. ADAMS/Car simulation validates that the mechanism effectively balances large-angle maneuverability with high-speed stability.