Technical Awards : 2021 JSAE Award The Outstanding Technical Paper Award - An Approach to Exploring Vehicle Motion to Enhance Ride Quality of PassengerTable.4 Vehicle and passenger motion design specifi cation: Three condition to exemplify design methodology.Fig.9 Passenger body roll stiffness (box-and-whisker plot) and other characteristics: Passenger model parameters were fi xed from subject measurement (n=15) and estimation. 4.2 Calculating passenger acceleration space based on designFig.10 Steering pattern and vehicle C.G. path (with enlarged view) to satisfy design specifi cation of vehicle and passenger motion: Inverse vehicle dynamics analysis fi xes both input and state variables simultaneously.Fig.11 Vehicle and passenger motion to satisfy the design specifi cation: Calculated results.acceleration minimization specifi cation added with the conditions for returning the roll angle acceleration and angle velocity to zero at the terminal.The calculations were performed in accordance with the motion design specifi cations. Here, the characteristics of the passenger body model need to be determined (the settings of the vehicle characteristics are the same as those mentioned in a previous report by the authors(7)). Because the passenger model is simple, the accuracy improvement effect will be small, even if the thoroughness of the model characteristics defi nition is improved. Therefore, for the characteristic values of the shape and mass, values close to those of the actual vehicle test evaluator, as mentioned in subsection 4.3, are used. The body stiffness, KB , near a lateral acceleration of 2 m/s2 was set by referring to the distribution results of the measurements of the test subjects (n = 15). Examples of the stiffness measurements are presented in the box-and-whisker plot in Fig. 9. The value when the passenger was facing down and reading text was used for the calculations, and the passenger was considered to be seated on the left side of the rear seat.The settings necessary for the calculation were implemented. Thereafter, inverse vehicle dynamics analysis was performed to calculate the control inputs and vehicle motion (Fig. 10 shows the path of the vehicle CG) that minimizes the evaluation functions while satisfying the terminal conditions. 4.3 Evaluation using the acceleration (vehicle) spaceIn the test method, a steering robot was mounted on a vehicle to reproduce the calculated steering waveform such that acceleration was applied to the passenger seated on the rear seat. To correspond to the actual environment, a term that represents the effects of slopes was included in the vehicle model when performing the calculations. The test values were compared with the calculated values for the last 4 seconds.75114The calculated optimal vehicle motion, The passenger has a body build close to the average of the measurement results of the passenger characteristics and is an expert in vehicle dynamics evaluation. The passenger can recognize the start of the vehicle motion based on the inevitable driving noise of the steering robot. However, it should not be easy for the passenger to lateral acceleration of the vehicle CG, and roll posture angle of are depicted in Fig. 11. According the passenger body to the calculation results, the transition of V0 appears as a sine function. Compared to V0, the peak value of the passenger behavior is suppressed for R1 (in which case the passenger behavior is optimized). In R2 (in which case additional terminal constraints are implemented), the posture angle converges to a certain value at the end of the calculation.No.88 (2022) NISSAN TECHNICAL REVIEW
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