Journal of Auto-vehicle Safety Association (자동차안전학회지)

Korean Auto-vehicle Safety Association (한국자동차안전학회)
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An Experimental Study of Optimal Performance of Rear Wheel Steering Vehicle for Maneuverability

기동성을 위한 후륜 조향 차량의 최적 성능에 대한 연구

  • 안국진 (서울대학교 공과대학 기계항공공학부) ;
  • 좌은혁 (서울대학교 공과대학 기계항공공학부) ;
  • 박관우 (서울대학교 공과대학 기계항공공학부) ;
  • 윤영식 (현대자동차) ;
  • 이경수 (서울대학교 공과대학 기계항공공학부)
  • Received : 2018.11.30
  • Accepted : 2019.06.13
  • Published : 2019.06.30
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Abstract

This paper presents an optimal performance of rear wheel steering vehicle for maneuverability. The maneuverability of vehicle is evaluated in terms of yaw rate, body slip angle and driver input. The maneuverability of vehicle can be improved by rear wheel steering system. To obtain optimal performance of rear wheel steering vehicle, the optimal control history is designed. The high dimensional trajectory optimization problem is solved by formulating a quadratic program considering rear wheel steer input. To evaluate handling performance 7 degree-of-freedom vehicle model with actuation sub-models is designed. A step steer test is conducted to evaluate rear wheel steering vehicle. A response time, a TB factor, overshoot, and yaw rate gain are investigated through objective criteria, assessment webs. The handling performance of vehicle is evaluated via computer simulations. It has been shown from simulation studies that optimal controlled rear wheel steering vehicle provides improved performance compared to others.

Keywords

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Fig. 1 완전 차량 모델

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Fig. 2 피드포워드 게인

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Fig. 3 후륜 조향 차량의 성능 분석을 위한 오프라인 최적화 구성

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Fig. 4 단계 조향각 시험: 30kph

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Fig. 5 단계 조향각 시험: 110kph

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Fig. 6 평가 웹: 단계 조향각 시험

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