Experimental Vehicle Handling Modification through Steer-by-Wire and Differential Drive

This paper investigates the possibility of controlling a vehicle equipped with steer-by-wire and differential drive to emulate the handling characteristics of another vehicle. Using linear bicycle models of the steer-by-wire testbed and the emulated vehicle, the controller determines the steering angle and differential drive moment based on the yaw rate and sideslip angle. Through simulations and experimental tests, the capability of differential drive and steer-by-wire to modify the handling of a vehicle is explored, and limiting factors such as tire friction and specific vehicle parameters are identified. Changes to vehicle parameters such as the front tire cornering stiffness can be effected easily, while changes to rear tire cornering stiffness and weight distribution are more difficult to emulate. Since the differential moment advances tire saturation in the rear, the ability to emulate cars with radically different rear tires or weight distribution is limited.