Development of the electronic control unit for the rack-actuating steer-by-wire using the hardware-in-the-loop simulation system

In rubber-wheeled road vehicles, the mechanical connection between steering wheel and front wheels provides steeringrelated feedback to the driver. The torque fed back to the driver through the steering linkages and steering wheel, which is called steering feel, helps the driver in controlling the vehicle. The torque feedback is reproduced via artificial methods in steer-by-wire systems due to the lack of mechanical connection. In this work, in order to minimize the physical workload and the lateral acceleration under the consideration of handling performance, optimization of a hysteresis-based steering feel has been studied. A 2-degree-of-freedom bicycle model based on the magic formula tire model has been used for simulations and hardware-in-the-loop experiments. A mathematical model is proposed in order to create an adaptive model-based optimization of the hysteresis parameters simultaneously while driving. A hardware-in-the-loop experimental setup has been used for the driving tests. The weave and the double-lane change tests have been performed with different drivers in order to demonstrate and quantify the optimization methods that are presented in this work.

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“…Thus, k x (t) becomes inversely proportional to n(t) in equation (11). s(t) is likewise the balancing parameter in this equation.…”

Section: Online (Active) Optimization Of the Steering Feelmentioning

confidence: 99%

Online optimized hysteresis-based steering feel model for steer-by-wire systems

Kirli

Arslan

2016

Advances in Mechanical Engineering

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“…ECU에게 타겟 시스템에 장착된 것과 같은 환경을 모사해주려면, 가상 차량 환경(Virtual vehicle environment)이 필요한데 [8] , 대부분의 연구는 이를 위한 환경의 구축 방법으로 모델 기반 설계 기법(Model based design) 을 사용하고 있다 [8][9][10][11][12] . [13,14] . 모델 기반 설계 기 법은 모델 구축 기간 단축, 높은 시험 자유도, 재사용성 등의 장점을 가지고 있지만 모델이 실제 차량 동역학을 따르는지에 대한 검토(Validation)와 실시간 계산이 어려 운 문제점을 가지고 있다 [15] .…”

Section: 소프트웨어의 코드 오류를 검증하는 시험은 정확성 테스 트(Correctness Test) 강건성 테스트(Runclassified

Hardware-In-the-Loop Simulation of ECU using Reverse Engineering

Park¹,

Ham²,

Ko³

et al. 2016

Journal of the Korea Society for Simulation

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Increasing the proportion of an embedded system in automotive industry, test methods for evaluation and fault detection of the embedded system have been researched. HILS is a test method that is used in the development and test of complex real-time embedded systems. In this study, we defined the HILS method of the ECU, one of the embedded systems used in automobiles. Our method is to create a test model that can provide a virtual vehicle environment to the ECU on the basis of the actual vehicle data. The test model has reference information that can transmit the sensor signal and CAN Message into the ECU from HILS tester. In this study, the HILS can detect faults of the target ECU.

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“…The physical modeling of such a system is studied in Park et al (2005). Although the lateral forces acting on the front xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx…”

Section: The Steer-by-wire Actuatormentioning

confidence: 99%

Closed-loop Subspace Predictive Control for Fault Tolerant MPC Design

Dong

Verhaegen

Holweg

2008

IFAC Proceedings Volumes

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Subspace predictive control (SPC) is recently seen in the literature for joint system identification and control design. This combination enables automatically tuning the parameters in conventional model predictive control (MPC); and therefore provides a solution to the problem of fault tolerant MPC design. The existing SPCs either deal with open-loop data or depend on the information of the controller in a closed loop. In this paper we introduce a new closed-loop SPC method, which is independent of any controller information. Both the analytic solution to the unconstrained case and the quadratic programming problem for the constrained case are formulated. A recursive solution for updating the SPC control law is proposed. A fault tolerant MPC scheme is then developed based on the recursive algorithm, whose effectiveness is demonstrated on tolerating a fault in a steer-by-wire actuator.

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Development of the electronic control unit for the rack-actuating steer-by-wire using the hardware-in-the-loop simulation system

Cited by 59 publications

References 13 publications

Online optimized hysteresis-based steering feel model for steer-by-wire systems

Online optimized hysteresis-based steering feel model for steer-by-wire systems

Hardware-In-the-Loop Simulation of ECU using Reverse Engineering

Closed-loop Subspace Predictive Control for Fault Tolerant MPC Design

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