This paper presents a physically intuitive method for altering a vehicle's handling characteristics through active steering intervention. A full state feedback controller augments the driver's steering command via steer-by-wire to achieve desired handling behavior. Accurate estimates of vehicle states are available from a combination of Global Positioning System (GPS) and Inertial Navigation System (INS) sensor measurements. By canceling the effects of steering system dynamics and tire disturbance forces, the steerby-wire system is able to track commanded steer angle with minimal error. Experimental results verify that with precise steering control and accurate state information, a vehicle's handling characteristics can be modified to match driver preference or to compensate for changes in operating conditions.

This paper presents a physically intuitive method for altering a vehicle's handling characteristics through active steering intervention. A full state feedback controller augments the driver's steering command via steer-by-wire to achieve desired handling behavior. Accurate estimates of vehicle states are available from a combination of Global Positioning System (GPS) and Inertial Navigation System (INS) sensor measurements. By canceling the effects of steering system dynamics and tire disturbance forces, the steerby-wire system is able to track commanded steer angle with minimal error. Experimental results verify that with precise steering control and accurate state information, a vehicle's handling characteristics can be modified to match driver preference or to compensate for changes in operating conditions.

No abstract

No abstract