This investigation is based on a complex 4-wheel vehicle model of a passenger car that includes steering system and drive train. The tyre properties are described for all possible combined longitudinal and lateral slip values and for arbitrary friction conditions. The active part is an additional steering system of all 4 wheels, additionally to the drivers steering wheel angle input. Three control levels are used for the driver model that thereby can follow a given trajectory or avoid an obstacle. The feedback control fo the additional 4 wheel steering is based on an observer which can also have adaptive characteristics. Moreover a virtual vehicle model in a feedforward scheme can provide desired steering characteristics. To get information for critical situations a cornering manoeuvre with sudden friction coefficient split conditions is simulated. Further a similar manoeuvre is used to evaluate the recentry in a high friction area from low friction conditions. And finally the performance of the controller is shown in a severe lane change manoeuvre.
Additional 4MS and driver interaction
Zusätzliche Vierradlenkung und Wechselwirkung mit dem Fahrer
Vehicle System Dynamics ; 24 , 8 ; 639-658
1995
20 Seiten, 22 Bilder, 7 Quellen
Aufsatz (Zeitschrift)
Englisch
Additional 4WS and driver interaction
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