Steer-by-wire system has been developed to realize the active steering without affecting to the driver. Steer-by-wire system has no mechanical linkage between the steering gear and the steering column. It is possible to control the steering wheel and the front-wheels actuator independently. The active steering that reduces the difference between actual and estimated vehicle yaw rate can be realized. Since the information from the steering wheel is important for the driver to know the road condition, tire force should be fed back to the steering wheel. But unexpected disturbance is better suppressed without affecting to the steering wheel. Based on estimating the vehicle side slip angle from the internal sensor response, the tire self-aligning torque can be estimated. This torque is fed back to the steering wheel so that the driver can know the road condition. In this paper, we propose the method to control the vehicle yaw rate using steer-by-wire system, also disturbance applied to the front tires is suppressed by disturbance observer without affecting to the steering wheel. To realize more effective active steering control, we also propose the method to estimate the tire cornering stiffness.
Steering control of vehicle considering changes of the tire cornering stiffness
Lenkungsregelung bei Fahrzeugen unter Berücksichtigung von Richtungsstabilitätsänderungen bei den Reifen
MechRob, Mechatronics and Robotics, 2004 ; 101-106
2004
6 Seiten, 13 Bilder, 1 Tabelle, 8 Quellen
Aufsatz (Konferenz)
Englisch
Steering Control of Vehicle Considering Changes of The Tire Cornering Stiffness
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