���線追従制御理論を利用した四輪操舵システムの理論的考察(機械力学,計測,自動制御)

This paper evaluates the effectiveness of four-wheel-steering systems from the viewpoint of lane-keeping control theory. ln this paper, the lane-keeping control system is designed on the basis of the four-wheel-steering automobile whose desired steering response is realized with the application of model matching control. Using simplified linear 2 degree-of-freedom bicycle model, Simulation study and theoretical analysis are conducted to evaluate the lane-keeping control performance of active four-wheel-steering automobiles which have different desired steering response. Finally, the evaluation is conducted on straight and curved roadway tracking maneuvers.