A new manual Steering torque estimation model for steer-by-wire systems

Engine torque estimation function is the base of engine torque control. This paper establishes the model for engine torque estimation respectively under steady condition and unsteady condition based on BP Neural network, and develops a new engine torque real-time estimation method. The experiment results under steady condition and unsteady condition show that the engine torque estimation model can estimate the engine output torque and the precision is remarkable.

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A Method to Estimate the Friction Coefficient and Tire Slip Angle Using Steering Torque

Dynamic Systems and Control, Parts A and B ◽

10.1115/imece2006-15402 ◽

2006 ◽

Cited By ~ 15

Author(s):

Yung-Hsiang J. Hsu ◽

Shad Laws ◽

Christopher D. Gadda ◽

J. Christian Gerdes

Keyword(s):

Friction Coefficient ◽

Nonlinear Observer ◽

Slip Angle ◽

Power Steering ◽

Passenger Safety ◽

Torque Measurements ◽

Steer By Wire ◽

The Coefficient Of Friction ◽

Tire Forces ◽

Steering Torque

Knowledge of tire forces is important for vehicle control systems that aim to enhance vehicle handling and passenger safety. This paper introduces a nonlinear observer that estimates the coefficient of friction and tire slip angle, both of which are key factors in characterizing the vehicle's lateral tire forces. The observer estimates the friction coefficient and slip angle based on sensor measurements available on many production vehicles. This includes steering torque measurements readily available in steer-by-wire or electric power steering (EPS) systems. Experimental results on a steer-by-wire research vehicle (Fig. 1) demonstrate the observer's ability to provide accurate estimates out to the limits of handling.

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Driver Steering Torque Estimation via Robust Generalized H2 Filtering for Human-Automation Shared Driving

IFAC-PapersOnLine ◽

10.1016/j.ifacol.2021.11.285 ◽

2021 ◽

Vol 54 (20) ◽

pp. 895-900

Author(s):

Xingyu Zhou ◽

Zejiang Wang ◽

Junmin Wang

Keyword(s):

Torque Estimation ◽

Steering Torque

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Development of a driving assist system for ultra-compact electric vehicles using a steer-by-wire system: Fundamental consideration of muscle burden and evaluation by a continuous steering operation

International Journal of Applied Electromagnetics and Mechanics ◽

10.3233/jae-209427 ◽

2020 ◽

Vol 64 (1-4) ◽

pp. 1111-1118

Author(s):

Daigo Uchino ◽

Xiaojun Liu ◽

Hideaki Kato ◽

Takayoshi Narita

Keyword(s):

Electric Vehicles ◽

Gear Ratio ◽

Steering Wheel ◽

Steering Angle ◽

Power Steering ◽

Steer By Wire ◽

Steering Torque ◽

Distance Travel ◽

Wire System ◽

Fundamental Consideration

Ultra-compact electric vehicles has excellent environmental performance and are extremely convenient for short-distance travel. However, owing to cabin space limitations, it is difficult to mount power steering. Therefore, there is a need to increase the gear ratio of the rack and pinion to change steering angle because such vehicles need light torque to steer. However, increasing the gear ratio requires more rotations of the steering wheel. Our research group focused on developing a steer-by-wire system (SBWS) that freely controls the steering torque. Although we evaluated the burden when a driver rotates the steering wheel in one direction in a previous study. This study assumed the actual steering operation in an SBWS. And then we evaluate muscle burden when a driver steers with continuous changing of the steering direction.

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Haptic control of steer-by-wire systems for tracking of target steering feedback torque

Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering ◽

10.1177/0954407019879298 ◽

2019 ◽

Vol 234 (5) ◽

pp. 1389-1401

Author(s):

Jaepoong Lee ◽

Kyongsu Yi ◽

Dongpil Lee ◽

Bongchoon Jang ◽

Minjun Kim ◽

...

Keyword(s):

Control Algorithm ◽

Haptic Feedback ◽

Sliding Mode ◽

System Model ◽

Adaptive Sliding Mode Control ◽

Steering Wheel ◽

Infinite Impulse Response ◽

Steer By Wire ◽

Steering Torque ◽

Haptic Control

This study proposes a haptic control of steer-by-wire systems for tracking a target steering feedback torque to achieve the conventional steering feedback torque. The haptic feedback control with a steer-by-wire steering-wheel system model was used to provide drivers with a conventional steering feedback torque. The steer-by-wire steering-wheel system model was developed, and a haptic control algorithm was designed for a desired steering feedback torque with a three-dimensional target steering torque map. In order to track the target steering torque to let the drivers feel the conventional steering efforts, an adaptive sliding-mode control was used to ensure robustness against parameter uncertainty. The angular velocity and angular acceleration used in the control algorithm were estimated using an infinite impulse response filter. The performance of the proposed controller was evaluated by computer simulation and hardware-in-the-loop simulation tests under various steering conditions. The proposed haptic controller successfully tracked the steering feedback torque for steer-by-wire systems.

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Development of a neuromuscular driver model with an estimation of steering torque feedback in vehicle steer-by-wire systems

Proceedings of the Institution of Mechanical Engineers Part K Journal of Multi-body Dynamics ◽

10.1177/1464419319829980 ◽

2019 ◽

Vol 233 (3) ◽

pp. 657-667

Author(s):

Amir Gholami ◽

Majid Majidi

Keyword(s):

Transfer Functions ◽

Driver Model ◽

Steering Wheel ◽

The Novel ◽

Muscular System ◽

Vehicle Model ◽

Haptic Interaction ◽

Steer By Wire ◽

Simulation Results ◽

Steering Torque

In this paper, a neuromuscular driver model for sensing torque feedback or haptic interaction between the vehicle equipped with steer-by-wire (SBW) system and the driver has been developed. The proposed driver model consists of a preview model and a neuromuscular model. The preview driver model calculates the desired angle of the steering-wheel to follow the path, and the neuromuscular driver model, with the ability of perceiving real-time torque feedback, determines the real angle of the steering-wheel angle according to muscular system transfer functions to follow the desired steering-wheel angle. In order to calculate torques on the steering-wheel, the lateral tyre-road forces are estimated by Kalman filter designed using a linear 2-DOF vehicle model. So, the design of the neuromuscular driver model combined with torque feedback estimation is the main contribution of this paper. The simulation results from TruckSim and Simulink software indicate that the novel designed driver model with torque feedback estimation has an important role in the controlling and steering vehicle to follow the desired paths.

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