Abstract
For chassis control systems such as 4-wheel steering and active suspension, the most suitable and reasonable control is always desired to achieve better driving sensation. We discuss a theoretical analysis of the stability criteria and a performance index for a driver-vehicle (closed-loop) system. Assuming a linear preview control model of a driver in a lane change maneuver and an equivalent linear bicycle model for the vehicle, the stable and unstable zones on the u-Tp plane (u : velocity, Tp : preview time) are derived, and a typical quadratic expression for the cost function is proposed. Vehicle design parameters, the rear-wheel steering control algorithm and the driver characteristics can be discussed quantitatively in the same terms on the fy-K plane (fy : yawing natural frequency, K : stability factor) to determine pleasurable driving sensation or a possible safety criteria.
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Schedule a callMore From: JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing
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