CUED Publications database

A model of driver steering control incorporating the driver's sensing of steering torque

Kim, N and Cole, DJ (2011) A model of driver steering control incorporating the driver's sensing of steering torque. Vehicle System Dynamics, 49. pp. 1575-1596. ISSN 0042-3114

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Abstract

Steering feel, or steering torque feedback, is widely regarded as an important aspect of the handling quality of a vehicle. Despite this, there is little theoretical understanding of its role. This paper describes an initial attempt to model the role of steering torque feedback arising from lateral tyre forces. The path-following control of a nonlinear vehicle model is implemented using a time-varying model predictive controller. A series of Kalman filters are used to represent the driver's ability to generate estimates of the system states from noisy sensory measurements, including the steering torque. It is found that under constant road friction conditions, the steering torque feedback reduces path-following errors provided the friction is sufficiently high to prevent frequent saturation of the tyres. When the driver model is extended to allow identification of, and adaptation to, a varying friction condition, it is found that the steering torque assists in the accurate identification of the friction condition. The simulation results give insight into the role of steering torque feedback arising from lateral tyre forces. The paper concludes with recommendations for further work. © 2011 Taylor & Francis.

Item Type: Article
Uncontrolled Keywords: adaptive control driver feel friction predictive steering torque
Subjects: UNSPECIFIED
Divisions: Div C > Applied Mechanics
Depositing User: Cron Job
Date Deposited: 07 Mar 2014 11:31
Last Modified: 08 Dec 2014 02:30
DOI: 10.1080/00423114.2010.533777