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  • Summary & Details

Improvement of path traceability by optimizing body slip angle during automated drive


Detailed Information

Author(J)1) 丹羽 雄哉, 2) 宮下 直樹, 3) 関 健一, 4) 高田 健司, 5) 田尾 光規
Author(E)1) Yuya Niwa, 2) Naoki Miyashita, 3) Kenichi Seki, 4) Kenji Takata, 5) Mitsunori Tao
Affiliation(J)1) 日産自動車株式会社 , 2) 日産自動車株式会社 , 3) 日産自動車株式会社 , 4) 日産自動車株式会社 , 5) 日産自動車株式会社
Affiliation(E)1) Nissan Motor Co., Ltd., 2) Nissan Motor Co., Ltd., 3) Nissan Motor Co., Ltd., 4) Nissan Motor Co., Ltd., 5) Nissan Motor Co., Ltd.
滑りやすい路面において旋回する場合, US特性の車両では前輪横力が飽和しやすく, コースアウト傾向となる. そこで, 走行シーンに応じて車体姿勢を最適化することによって4輪のタイヤフォースを効果的に生成する手法を検討した. 圧雪路面での自動運転に適用した結果, 目標軌道からの位置偏差が大幅に改善された.


Abstract(E)(Reprinted from Proceedings (Autumn) No.178-20)
Vehicle with understeer characteristics tends to have lateral force on front wheels saturated, and to consequently go out of course on slippery surface. In order to solve that, it is introduced to effectively generate force on all wheels by optimizing body slip angle depending upon driving conditions. As the result of being applied to automated drive on packed snow, traceability onto target trajectory is greatly improved.

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