| 제목 |
Data-Driven 차량 횡방향 모델 정확도 개선 |
| 분야 |
차량동역학 및 제어 |
| 언어 |
Korean |
| 저자 |
조건희(한양대학교), 김좌헌(한양대학교), 이형철(한양대학교), 유승한(한국기술교육대학교), 조완기(한국기술교육대학교) |
| Key Words |
Vehicle lateral model(차량 횡방향 모델), Model accuracy(모델 정확도), Vehicle lateral control(차량 횡방향 제어), Parameter optimization(파라미터 최적화), Cornering stiffness(코너링 강성) |
| 초록 |
In this paper, a data-driven based method was proposed to improve the accuracy of the vehicle lateral model. In the derivation of the conventional single-track model, several error factors occurred as a result of the simplification of the model. Among them, front and rear tire cornering stiffness was the factor that was most related to the accuracy of the vehicle lateral model. In general, the conventional model uses nominal cornering stiffness without considering its nonlinearity and the effect of lateral load transfer. The proposed method was developed to compensate sufficiently for the error factors in cornering stiffness with a nonlinear map, which was designed by the parameter optimization method through the measurement data from real vehicle tests. This method was designed and validated with real vehicle experiments under various driving scenarios. |
| 원문(PDF) |
다운로드
Journal Site
|
