Modeling and verification of steering torque feedback system for driving simulator

Based on the sensitivity analysis results, the parameters in the steering torque feedback formulation (Eq. (1)) is adjusted. For verification, the simulation results based on steering torque feedback model are compared with real vehicle experimental results, as shown in Fig. 3. The results show that the simulation matches well with the real vehicle experiment, which demonstrates that the proposed steering torque feedback model has sufficient accuracy in simulating steering torque feedback. The future research will include further enhancing the model fidelity with improved tire reactive torque model, and further investigating the desired steering torque feedback for better customization to satisfy different drivers under various driving conditions.