安全安心のための超小型電気自動車の運動制御技術

摘要

「カー・ロボテイクス」は自動車技術とロボット技術の融合である．センサとアクチュエータと知能を統合する技術はロボット技術と呼ばれるので，現在の自動車には数多くのセンサ，電子制御ユニットECU（Electronic ControI Unit），アクチュエータが付いており，すでに多くのロボット技術が使われているといえる．%This article presents car-robotics technology in the context of vehicle dynamics control systems which utilize the structural merits of electric vehicles. Fast response and precise control of driving torque by electric motors potentially enhance control performance of vehicle dynamics. Small size of motors which can be equipped in the wheel hub extends degrees-of-freedom in vehicle dynamics control not only in the longitudinal direction but also in the lateral direction. As the representative control functions, this article describes the controller design and the experimental validation of Traction Control System (TCS) and Direct Yaw Moment Control System (DYC) for enhancing vehicle dynamics. Furthermore, a lane keeping control system by using in-wheel-motor torque distribution control as the control input is described.