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9436332 Lateral motion control performance of a vehicle with differential terms
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Abstracts 7994 JSAE Autumn Contention/JSAE Reciew 16 (1995) 95-113
addition of MoDTC in engine oil can reduce the engine friction. In this study, the effect of MoDTC is investigated. The friction reduction by a oil containing MoDTC together with ZnDTP is effective only at below 70°C. However the addition of sulfurized additives can extend effective temperature range between 40°C and 120°C. 9436279 Vehicle Dynamics OF YONDEN E L E C T R I C VEHICLE "PIVOT" Hidetoshi Nasu, Hiromasa Higasa (Shikoku Research Institute Inc), Toshio Yoshimura (University of Tokushima), pp. 109-112, 8 figs., 3 refs. A research and development project was carried out to build an experimental electric vehicle with the four wheels driven and steered independently of one another to provide advanced dynamic control capability, making the most of inherent advantages of the electric vehicle which is powered by electric motors. In order to achieve better vehicle handling performance in a 4WS-4WD mode which is a major feature of the experimental vehicle, special control methods were adopted for the rear-wheel steering system and for regulating traction force differentials between the right and left wheels. This paper reports on these control methods and the results of related computer simulations.
9436288 Automatic Parking Motion Control for a Car-Like Robot Using a Fuzzy Neural Network Yamamoto Motoji, Mohri Akira (Kyushu University), pp. 113-116, 15 figs., 3 ref. This paper discusses a parking motion control of a car-like robot, in which constraints of steering operation and obstacle avoidance with a garage and walls arc also considered. A motion planning and control method using a fuzzy neural network is presented. Firstly, the fuzzy neural network system for parking motion learns good motions by human operations to generate motion control strategy of parking. Secondly. the fuzzy neural network is used for parking motion planning and control. Computer simulations and experiments show effectiveness of the proposed method. 9436297 On Direct Yaw Moment Control for Improving Active Safety of Vehicle Handling Naoto Ohkubo, Yoshio Kano, Masato Abe (Kanagawa Institute of Technology), pp. 117-120, 5 figs., 1 table, 2 refs. Direct Yaw Moment Control (DYC) using yaw moment induced by longitudinal forces on left and right wheels in opposite direction is studied. Zero sideslip angle response and first order lag yaw rate response are adopted for the model following control law of DYC, in which feed-forward and feed-forward plus feed-back types of controls are considered. In order to compare the effects of those controls on vehicle handling performance not only in linear region but also in nonlinear region with acceleration and braking, computing simulations are carried out by using a nonlinear full vehicle model. 9436305 Improvement of Vehicle Dynamics Through State Feedback Control Hideaki lnoue, Genpei Naito, Shinji Matsumoto, Kazutaka Adachi (Nissan Motor Co., LTD), pp. 121-124, 12 figs., 6 refs. Active safety encompasses many areas of automotive engineering. One approach to improving active safety is through improvement of vehicle dynamics. This paper describes the results of research on the improvement of vehicle dynamics through the application of yaw rate feedback control to 4WS, a torque split control system and ABS. 9436314 A Real-time Simulator for Torque Split Control Systems Yoshiyuki Eto, Norio Endo, Kenichi Watanabe (Nissan Motor), pp. 125-128, 11 figs., 1 table, 2 refs. A Real-time Simulator has been created for use in developing torque split control systems in order to improve development work efficiency, achieve high quality and store accumulated know-how. Two methods were developed to support the use of the simulator in evaluating system reliability. With one method, system performance is analyzed to confirm whether the control theory has been optimally designed. The other method is an automated testing routine ti)r confirming whether hardware
units operate as specified. These methods make it possible to apply many kinds of driving conditions to the hardware under development, and represent a dramatic improvement in reliability evaluation techniques.
9436323 The Impact of Rear Suspension Characteristics on Dynamic Behavior of the Vehicle. part 3: The Impact of Complex Cornering Stiffness on a Driver: Vehicle System behavior Sasaki Hideki (Toyota Motor Co., Ltd), Satoh Yukiham (Toyota Motor Co., Ltd), pp. 129-132, 8 figs., 1 table, 3 refs. This paper theoretically and experiment studies the impact of Complex Cornering Stiffness (C.C.S) on the driver- vehicle system behavior. The paper focuses on the disturbance by steering wheel input. The paper starts with numerical simulation. The paper adopts KONDO MODEL as driver model. Assuming the disturbance by steering wheel input and straight line as target course, the phase lead time of rear axle's, C.C.S decrease course error. The result is confirmed by theoretical analysis and actual vehicle experiment. 9436332 Lateral Motion Control Performance of a Vehicle with Differential Terms Hiroyoshi Nakaya (Shibaura Institute of Technology), pp. 133-136, 10 figs., 4 refs. A series of follow-up control tests was conducted on a lateral motion test stand using the experimental vehicle that had the steering system with differential terms. The gain and phase characteristics were varied and the differential terms were set up 3 stages. Consequently, the utility of steering system with differential terms were confirmed and it's optimum range were clarified.
9436341 Proposal of an Automatic Steering Control Algorithm appiing Optical Flow Ken-ichi Yoshimoto (Univ. of Tokyo), Masatoshi Sakatoh (Honda), Makoto Takeuchi (Nissan), Hideki Ogawa (Tokyo Marine), pp. 137-140, 10 figs., 2 refs. In order to realize the automatic driving, an steering control algorithm in which the steerage is determined only by "the change of visual images" (so called "Optical Flow") of the ahead road previewd by I.T.V. camera, is proposed, and its feesibility of this algorithm is investigated by cnmputer simulation experiments. 9436350 Effects of Aerodynamics on a High-Speed Vehicle: Aeroelastic Analysis of the Longitudinal Motions Yoshio Kojima, Osamu Murata (Toyota Central R&D Labs. Inc.), Kazuhiro Maeda (Toyota Motor Corporation) and Hirobumi Ohta (NAGOYA University), pp. 141-144. 8 figs., 3 tables, 4 refs. The effects of the aerodynamics on a high-speed vehicle are studied. This paper focuses on the longitudinal pitching and heaving 4DOF motions. Modelling procedure is proposed based on the aeroelasticity for bluff-body problem. Wind tunnel tests reveal that aerodynamic derivatives of a sedan and a mini-van type passenger cars are such linear ones that car dynamics can be calculated in linearized forms. The apparent change of suspension stiffness due to the aerodynamic properties is also presented. Running tests to certify numerical results complete the work. 9436369 Development of a Prediction Method of Curb Impact Load Masayuki Katsuno (Toyota Motor Corp.), Masato Sano (Toyota System Research Inc.) Katsujiro Tachikawa (Sango Corp.), pp. 145-148, 15 figs., 4 refs. A method to predict the suspension load which occurs when the tire hits the curb has been developed. The vihicle model is equipped with a three dimensional tire model to calculate the complicated tire generating force at the curb. The software used for calculation is called ADAMS, which makes the dynamic analysis of mechanical systems. The propriety of the calculation was confirmed by actual vehicle tests. 9436378 Shock Absorber Control Using Fuzzy Reasoning Katsunori Fujihashi, Sadayuki Takayasu (Daihatsu Motor Co., Ltd.), pp. 149-152, 14 figs., 1 ref.
Abstracts 7994 JSAE Autumn Contention/JSAE Reciew 16 (1995) 95-113
addition of MoDTC in engine oil can reduce the engine friction. In this study, the effect of MoDTC is investigated. The friction reduction by a oil containing MoDTC together with ZnDTP is effective only at below 70°C. However the addition of sulfurized additives can extend effective temperature range between 40°C and 120°C. 9436279 Vehicle Dynamics OF YONDEN E L E C T R I C VEHICLE "PIVOT" Hidetoshi Nasu, Hiromasa Higasa (Shikoku Research Institute Inc), Toshio Yoshimura (University of Tokushima), pp. 109-112, 8 figs., 3 refs. A research and development project was carried out to build an experimental electric vehicle with the four wheels driven and steered independently of one another to provide advanced dynamic control capability, making the most of inherent advantages of the electric vehicle which is powered by electric motors. In order to achieve better vehicle handling performance in a 4WS-4WD mode which is a major feature of the experimental vehicle, special control methods were adopted for the rear-wheel steering system and for regulating traction force differentials between the right and left wheels. This paper reports on these control methods and the results of related computer simulations.
9436288 Automatic Parking Motion Control for a Car-Like Robot Using a Fuzzy Neural Network Yamamoto Motoji, Mohri Akira (Kyushu University), pp. 113-116, 15 figs., 3 ref. This paper discusses a parking motion control of a car-like robot, in which constraints of steering operation and obstacle avoidance with a garage and walls arc also considered. A motion planning and control method using a fuzzy neural network is presented. Firstly, the fuzzy neural network system for parking motion learns good motions by human operations to generate motion control strategy of parking. Secondly. the fuzzy neural network is used for parking motion planning and control. Computer simulations and experiments show effectiveness of the proposed method. 9436297 On Direct Yaw Moment Control for Improving Active Safety of Vehicle Handling Naoto Ohkubo, Yoshio Kano, Masato Abe (Kanagawa Institute of Technology), pp. 117-120, 5 figs., 1 table, 2 refs. Direct Yaw Moment Control (DYC) using yaw moment induced by longitudinal forces on left and right wheels in opposite direction is studied. Zero sideslip angle response and first order lag yaw rate response are adopted for the model following control law of DYC, in which feed-forward and feed-forward plus feed-back types of controls are considered. In order to compare the effects of those controls on vehicle handling performance not only in linear region but also in nonlinear region with acceleration and braking, computing simulations are carried out by using a nonlinear full vehicle model. 9436305 Improvement of Vehicle Dynamics Through State Feedback Control Hideaki lnoue, Genpei Naito, Shinji Matsumoto, Kazutaka Adachi (Nissan Motor Co., LTD), pp. 121-124, 12 figs., 6 refs. Active safety encompasses many areas of automotive engineering. One approach to improving active safety is through improvement of vehicle dynamics. This paper describes the results of research on the improvement of vehicle dynamics through the application of yaw rate feedback control to 4WS, a torque split control system and ABS. 9436314 A Real-time Simulator for Torque Split Control Systems Yoshiyuki Eto, Norio Endo, Kenichi Watanabe (Nissan Motor), pp. 125-128, 11 figs., 1 table, 2 refs. A Real-time Simulator has been created for use in developing torque split control systems in order to improve development work efficiency, achieve high quality and store accumulated know-how. Two methods were developed to support the use of the simulator in evaluating system reliability. With one method, system performance is analyzed to confirm whether the control theory has been optimally designed. The other method is an automated testing routine ti)r confirming whether hardware
units operate as specified. These methods make it possible to apply many kinds of driving conditions to the hardware under development, and represent a dramatic improvement in reliability evaluation techniques.
9436323 The Impact of Rear Suspension Characteristics on Dynamic Behavior of the Vehicle. part 3: The Impact of Complex Cornering Stiffness on a Driver: Vehicle System behavior Sasaki Hideki (Toyota Motor Co., Ltd), Satoh Yukiham (Toyota Motor Co., Ltd), pp. 129-132, 8 figs., 1 table, 3 refs. This paper theoretically and experiment studies the impact of Complex Cornering Stiffness (C.C.S) on the driver- vehicle system behavior. The paper focuses on the disturbance by steering wheel input. The paper starts with numerical simulation. The paper adopts KONDO MODEL as driver model. Assuming the disturbance by steering wheel input and straight line as target course, the phase lead time of rear axle's, C.C.S decrease course error. The result is confirmed by theoretical analysis and actual vehicle experiment. 9436332 Lateral Motion Control Performance of a Vehicle with Differential Terms Hiroyoshi Nakaya (Shibaura Institute of Technology), pp. 133-136, 10 figs., 4 refs. A series of follow-up control tests was conducted on a lateral motion test stand using the experimental vehicle that had the steering system with differential terms. The gain and phase characteristics were varied and the differential terms were set up 3 stages. Consequently, the utility of steering system with differential terms were confirmed and it's optimum range were clarified.
9436341 Proposal of an Automatic Steering Control Algorithm appiing Optical Flow Ken-ichi Yoshimoto (Univ. of Tokyo), Masatoshi Sakatoh (Honda), Makoto Takeuchi (Nissan), Hideki Ogawa (Tokyo Marine), pp. 137-140, 10 figs., 2 refs. In order to realize the automatic driving, an steering control algorithm in which the steerage is determined only by "the change of visual images" (so called "Optical Flow") of the ahead road previewd by I.T.V. camera, is proposed, and its feesibility of this algorithm is investigated by cnmputer simulation experiments. 9436350 Effects of Aerodynamics on a High-Speed Vehicle: Aeroelastic Analysis of the Longitudinal Motions Yoshio Kojima, Osamu Murata (Toyota Central R&D Labs. Inc.), Kazuhiro Maeda (Toyota Motor Corporation) and Hirobumi Ohta (NAGOYA University), pp. 141-144. 8 figs., 3 tables, 4 refs. The effects of the aerodynamics on a high-speed vehicle are studied. This paper focuses on the longitudinal pitching and heaving 4DOF motions. Modelling procedure is proposed based on the aeroelasticity for bluff-body problem. Wind tunnel tests reveal that aerodynamic derivatives of a sedan and a mini-van type passenger cars are such linear ones that car dynamics can be calculated in linearized forms. The apparent change of suspension stiffness due to the aerodynamic properties is also presented. Running tests to certify numerical results complete the work. 9436369 Development of a Prediction Method of Curb Impact Load Masayuki Katsuno (Toyota Motor Corp.), Masato Sano (Toyota System Research Inc.) Katsujiro Tachikawa (Sango Corp.), pp. 145-148, 15 figs., 4 refs. A method to predict the suspension load which occurs when the tire hits the curb has been developed. The vihicle model is equipped with a three dimensional tire model to calculate the complicated tire generating force at the curb. The software used for calculation is called ADAMS, which makes the dynamic analysis of mechanical systems. The propriety of the calculation was confirmed by actual vehicle tests. 9436378 Shock Absorber Control Using Fuzzy Reasoning Katsunori Fujihashi, Sadayuki Takayasu (Daihatsu Motor Co., Ltd.), pp. 149-152, 14 figs., 1 ref.