Researches for advanced mobility and safety of an electric small vehicle

在题为"小型电动汽车的创新机动性和安全性研究"的研究课题中，我们处理了两个测量技术问题，1：小型电动汽车的差动驱动控制，2：全向移动的系统在汽车中的应用首先，对于小型电动车辆的差动驱动控制的主题，我们已经设计并制造了一种车辆，其在左后轮和右后轮中具有两个轮内电机，以实现差动驱动配置，该底盘是商业上可用的小型EV。为了检测人类驾驶员的驾驶操作和车辆的运动，我们在方向盘、油门和刹车踏板上放置了电位计等传感器，并在驱动轮上放置了轴编码器。基于所开发的模型的轮速控制的原型车实现了比没有控制的车辆高30%的效率驱动。接下来，我们开发了一种应用全向移动的技术的车型全向车辆。该车在前轮装有两个主动轮作为驱动轮，在后轮装有两个被动轮，形成四轮车式结构。对于操作装置，正常的车轮，油门和刹车踏板与一些辅助开关一起使用，用于控制车辆的独立3D运动。我们准备了两种驱动模式，其中一种是2D模式，实现正常的汽车运动，另一种是3D模式，允许车身完全独立的3D运动，前后，侧向和旋转。旋转中心（COR）可以通过软件定位在任何地方，并由人类驾驶员改变。COR的这种变化能够实现非常灵活的运动，例如叉车运动、正常的汽车运动和全轮转向运动。

For the research topic entitled "Researches for innovative mobility and safety of a small electric vehicle", we dealt with two measure technical issues, 1 : differental drive control of a small electric vehicle, and 2 : application of an omnidirectional mobile system to automobiles.First, for the topic of a differential drive control of a small electric vehicle, we have designed and built a vehicle which has two in-wheel motors in left and right rear wheels to enables differential drive configuration, which chassis is a commercial available small EV. For detecting drive operation of a human driver and motion of the vehicle, we put sensors such as potentiometers on steering wheel, gas and brake pedals, and shaft encoders on the drive wheels. The prototype vehicle with the developed model based wheel velocity control realizes efficient drive 30% better than the vehicle with no control.Next, we developed a car type omnidirectional vehicle on which the omnidirectional mobile technology is applied. The vehicle equips with two active-casters on the front side as a drive wheels and two passive casters on the rear wheels that forms four wheel car like configuration. For the operation device, a normal wheel, gas and brake pedals are used together with some auxiliary switches for controlling independent 3D motion of the vehicle. We prepared two drive mode one of which is 2D mode which realizes normal car like motion, the other is 3D mode which allows full independent 3D movements to the vehicle body, back and forth, sideways and rotation. The center of rotation (COR) can be located anywhere by software and changed by the human driver. This change of COR enables very flexible motions such as forklift motion, normal car motion and all wheel steering motion.