Modification of vehicle handling characteristics via steer-by-wire

Author

Yih, Paul ; Ryu, Jihan ; Gerdes, J. Christian

Author_Institution

Dept. of Mech. Eng., Standford Univ., Stadford, CA, USA

Volume

3

fYear

2003

fDate

4-6 June 2003

Firstpage

2578

Abstract

This paper presents a physically intuitive method for altering a vehicle handling characteristics through active steering intervention. A full state feedback controller augments the driver steering command via steer-by-wire to achieve desired handling behavior. Accurate estimates of vehicle states are available from a combination of the Global Positioning System (GPS) and inertial navigation system (INS) sensor measurements. By canceling the effects of steering system dynamics and tyre disturbance forces, the steer-by-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 handling characteristics can be modified to match driver preference or to compensate for changes in operating conditions.

Keywords

Global Positioning System; automobiles; inertial navigation; state estimation; state feedback; vehicle dynamics; Global Positioning System; inertial navigation system; state estimation; state feedback controller; steer angle; steering control; steering system dynamics; tyre disturbance forces; vehicle handling; Global Positioning System; Inertial navigation; Position measurement; Sensor phenomena and characterization; Sensor systems; State estimation; State feedback; Steering systems; Tires; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2003. Proceedings of the 2003

ISSN

0743-1619

Print_ISBN

0-7803-7896-2

Type

conf

DOI

10.1109/ACC.2003.1243465

Filename

1243465