ドライブロボットのための省燃費性を考慮した目標車速波形の導出

摘要

アクセル•ブレーキペダルを操作し，任意の走行パターンを自動で走行することができるドライブロボットが，耐久試験などの車両走行試験において使用されている.ロボットを使用することにより車両を改造する必要がないため，車両走行試験だけでなく路上での車両の運転での使用も期待される.人と同じように路上で運転するためには，人と同じようなペダル操作による運転が必要不可欠となるが，現在のドライブロボットのシステムでは，人のような車両特性を考慮した運転を行うことはむずかしく，近年注目されている省燃費を意識した運転の実現もむずかしい.%Robotic drivers are used in the vehicle performance test. The robotic driver has been expected to test the vehicle performance for the long time with high reproducibility. Applying to driving on an actual road as well as a running test is also expected because improvement of a vehicle isn't required. In order to drive on actual road, it is necessary to drive with pedal operation like a person. However, unlike a professional driver, it is difficult for a robotic driver to drive with smooth pedal operations and low fuel consumption. First, we performed a preliminary test by a professional driver and a robotic driver. From this test, we found that the square value of the power of the vehicle was effective for driving with low fuel consumption. Therefore, we propose the objective function considering the square value of the power. Then, we derived the reference velocity in a driving cycle's tolerance for the robotic driver by the proposed objective function. Finally, we performed the vehicle test by the robotic driver. We made sure that the proposed system was effective from the result of the actual vehicle tests.