290-294 2026 [춘계학술대회]
| 제목 | 타이어 힘 추정 기반 고속 주행용 토크 벡터링 제어 알고리즘 개발 |
|---|---|
| 분야 | 지능형 샤시 및 제어 |
| 언어 | Korean |
| 저자 | 오병규(경상국립대학교), 구민지(경상국립대학교), 박채은(경상국립대학교), 김동진(경상국립대학교), 한상원(경상국립대학교) |
| Key Words | Vehicle Dynamics(차량 동역학), Torque Vectoring(토크 벡터링), Optimal Torque Allocation (최적 토크 할 당), Vehicle Stability(차량 안정성), Yaw Rate Response (요 레이트 응답), Side Slip Tracking (슬립각 추종) |
| 초록 |
The importance of control technology to simultaneously improve driving stability and steering performance is increasing with the recent high performance and electrification of vehicles. Existing TCS and ESC ensure stability through braking-based control, but there is a limit to active vehicle behavior control. In this study, a torque vectoring-based torque distribution control algorithm is proposed to improve the lateral stability of the vehicle and reflect the driver's intention. The proposed algorithm calculates the target yaw rate and the side slip angle based on the vehicle dynamics model and calculates the target yaw moment by applying Sliding Mode Control (SMC). In addition, the driving torque of each wheel is distributed through the estimation of the vertical force considering the load movement. As a result of verifying the performance through various driving scenarios in the CarMaker-MATLAB/Simulink interlocking environment, it was found that the proposed algorithm improves the target yaw rate and side slip angular tracking performance and maintains the vehicle within the stability range. Through this, it was confirmed that the proposed torque vectoring-based control technique is effective in improving the lateral stability of the vehicle. |
| 원문(PDF) | 다운로드 |