摘要
Recently many new types of small vehicles for future urban societies have been proposed and developed.Such small vehicles tends to have reduced stability and handling ability than conventional vehicles because of their lighter weight and reduced tire performance.To cope with this problem by active collaboration of Japanese academia and industries,a benchmark problem of designing vehicle control logic for an articulated In-Wheel-Motor vehicle was settled by Japanese society of automotive industries and academia.For this purpose,simulation models of the new vehicle using multi-physics acausal modeling language Modelica were provided from the industry side.Challengers were requested to design controllers of tire steering angle,tire camber angle and tire driving force to satisfy requested vehicle dynamic characteristics.There also were some restrictions about the range of actuators.Four test scenarios were given to evaluate the control performance.Many challengers from Japanese Universities have tackled with this benchmark problem.Some results of their researches are also introduced in this paper.
