Title: Driver-friendly motion control based on electric power steering and in-wheel motors on electric vehicle

Authors: R. Minaki; Y. Hori

Addresses: Department of Electrical Engineering and Information Systems (EEIS), Graduate School of Engineering, The University of Tokyo, Rm. 7H1, P.O. Box 702, Hori Laboratory, Transdisciplinary Sciences Bldg., 5-1-5 Kashiwanoha, Kashiwa, Chiba, 277-8561, Japan ' Department of Advanced Energy, Graduate School of Frontier Sciences, Division of Transdisciplinary Sciences, The University of Tokyo, Rm. 7E1, P.O. Box 305, Transdisciplinary Sciences Bldg., 5-1-5 Kashiwanoha, Kashiwa, Chiba, 277-8561, Japan

Abstract: This paper proposes to control driver's steering sensitivity and vehicle yaw motion based on human sensorial characteristics. Firstly, linearisation control of steering sensitivity enables the driver to recognize vehicle and road state via reaction torque of a steering wheel. It is power assist based on human kinesthetic sense by electric power steering. Secondly, linearisation control of vehicle yaw motion with in-wheel motors. Humans feel rotational motion by semicircular canal and vision. A driver controls yaw motion with the steering wheel. Therefore, this control increases operational performance for the vehicle. These controls will provide human-friendly man-machine interface to the driver.

Keywords: EPS; electric power steering; electric vehicles; human-friendly motion control; IWM; in-wheel motors; human-machine interface; HMI; steering control; vehicle control; human sensitivity; reaction torque; yaw rate; linear control; road state; vehicle state; rotational motion.

DOI: 10.1504/IJVAS.2013.053782

International Journal of Vehicle Autonomous Systems, 2013 Vol.11 No.2/3, pp.245 - 260

Received: 03 May 2011
Accepted: 20 Jun 2011
Published online: 30 Sep 2014 *