著者

毛利 宏 永井 正夫

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.67, no.664, pp.3836-3843, 2001-12-25

被引用文献数

3

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This paper compares two path-tracking control procedures, one using the steering angle as the control input and the other using steering torque as the input. This comparison will make clear the characteristics of both approaches. While steering angle control provides superior robustness, the control system configuration does not allow the driver to intervene in the steering process. In contrast, steering torque control provides some degree of freedom for allowing the driver to steer even during the control process, thus offering the potential for the provision of a steering assist mechanism.