Reaction Force Feedback of Tire Non-Linearity for Driving Safety of Steer-by-Wire System
- Delivery
- Available on this site
- Format
- Price
- Non-members (tax incl.):¥1,100 Members (tax incl.):¥880
- Publication code
- 20219063
- Paper/Info type
- Other International Conferences
- Pages
- 1-6(Total 6 p)
- Date of publication
- Sep 2021
- Publisher
- JSAE
- Language
- English
Detailed Information
Author(E) | 1) Go Sakayori, 2) Kenta Maeda, 3) Hua-Jun Liu, 4) Atsushi Hirata, 5) Yasuhito Nakakuki |
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Affiliation(E) | 1) Hitachi, Ltd., 2) Hitachi, Ltd., 3) Hitachi Astemo, Ltd., 4) Hitachi Astemo, Ltd., 5) Hitachi Astemo, Ltd. |
Abstract(E) | Steer-by-Wire (SBW) systems are being developed as a new ADAS technology for vehicle lateral motion control. SBW is a concept to replace the mechanical shaft with electrical wire connection, which allows vehicle motion to be controlled by two separated actuators. The design of the artificial counterforce to the driver is important to make the driver comfortable and stable while driving. In this paper, we propose a tire-nonlinearity estimation method for clutch-less SBW equipped vehicles, and a counterforce generation method using the tire non-linearity information. Recursive least squares method was employed to estimate the relationship between the vehicle lateral acceleration and road wheel actuator motor torque. With the obtained values we calculated the tire non-linearity, which was used for designing the counterforce. The proposed method was verified by using driving simulator, and the results showed that the subject was able to recognize the tire non-linearity state by feeling the additional counterforce. |