後輪スイング機構を備えた遠隔操作二輪車の旋回時におけるスリップ起因転倒抑制
Slip-Induced Fall Suppression During Cornering for a Remotely Operated Motorcycle with a Rear-Wheel-Swing Mechanism
後輪操舵機構を持つ二輪車のモデルを拡張し、速度と路面状況に応じて補助制御入力を配分する最適化問題としてスリップ起因の転倒抑制を定式化した。低摩擦路でのスラローム走行と合成氷上での旋回実験により、提案手法が転倒を抑制できることを示した。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
※ AIが要旨から生成した要約です。正確性は原文をご確認ください。
著者: Tadashi Sumioka, Kazushi Akimoto, Takuya Tsujimura, Sho Takayanagi, Kineo Tomura
分類: cs.RO, eess.SY
原文アブストラクト
Slip-induced falls when riding motorcycles are difficult to avoid even for expert riders and represent a major cause of single-vehicle accidents. Despite their prevalence, no practical solution has yet been proposed to suppress this phenomenon. We previously introduced a motorcycle model applicable to systems with both front- and rear- wheel steering. In this paper, we extend that model and formulate the suppression of slip-induced falls as an optimization problem that distributes assistive control inputs according to vehicle speed and road surface conditions. To evaluate the proposed method, we developed a remotely operated motorcycle and conducted experiments under two scenarios: slalom driving on a low-friction surface at 5.5 m/s, and turning maneuvers on synthetic ice to simulate driving over manholes on rainy days. The results demonstrate that our approach successfully suppresses falls under these challenging conditions.