Modification of vehicle handling characteristics via steer-by-wire

Abstract

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.

Adaptive fast non‐singular terminal sliding mode control for a vehicle steer‐by‐wire system

“…By using a simplified bicycle model for vehicles [4, 13], the plant model of our SbW system can be expressed as …”

“…In particular, SbW technology is the implementation of the by‐wire strategy in automobile steering systems, whose basic idea is to use a steering motor rather than the driver to generate the steering torque to steer front wheels, and a steering wheel feedback motor to produce feedback torques for the driver such that the driver can feel the interactions between the road surface and the front wheels. There are several noticeable merits of SbW systems compared with conventional mechanical steering systems, such as the ability to enhance the driver's steering input to boost the vehicle's stability or manoeuvrability [4], less environmental concerns due to the removal of hydraulic fluids, reduced power consumption to driver assistance, and the elimination of the injury to a driver when there is a front‐end car collision [5].…”

Nonlinear model predictive control from data: a set membership approach

“…Yaw stability control systems have been introduced to significantly enhance safety and handling properties of vehicles (see e.g., [24] and [25]) by modifying their passive dynamic behavior using suitable control structures and actuation devices. In particular, in this paper, a vehicle equipped with a front steer-by-wire actuator, based on a classical rack and pinion steering system (see e.g., [26]), is considered. The control objective is the tracking of a reference yaw rate value P ref .t /, whose course is designed to improve the vehicle maneuverability and to assist the driver in keeping directional stability under different driving conditions.…”

Coordinated Active Steering and Four‐Wheel Independently Driving/Braking Control with Control Allocation

“…The objectives of vehicle lateral dynamics control typically consists of yaw tracking for better handling feel and sideslip constraining for preventing large drift. The control of active steering and active driving/braking systems for better handling and preventing of drift have been actively studied [2][3][4][5]. Active steering control is effective for improving vehicle handling characteristics and can maintain vehicle stability by generating contra-cornering yaw moment near the limitation of tyre road adhesion through reducing the steering angle [2,3,6].…”