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

Lee, Jaepoong; Yi, Kyongsu; Lee, Dongpil; Jang, Bongchoon; Kim, Minjun; Hwang, Sangwoo

doi:10.1177/0954407019879298

Cited by 12 publications

(3 citation statements)

References 13 publications

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“…where ϕ is the thickness of the boundary layer affecting the chattering problem and steady-state accuracy. 52 Finally, the total control input of the sliding mode control can be expressed in equation (33).…”

Section: Lane Keeping Assistance Systemmentioning

confidence: 99%

Design and implementation of human driving data-based lane-keeping assistance system for electric bus

Lim

Kim

2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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This paper describes design, implementation, and evaluation of human driving data-based Lane Keeping Assistance System (LKAS) for electric bus equipped with a hybrid electric power steering system. The hybrid electric-power steering system used in this study means a steering system in which an Electric Power Steering (EPS) system and an Electro-Hydraulic Power Steering (EHPS) system are integrated into a ball-nut. A dynamic model of hybrid EPS system including EHPS system and EPS system has been developed to generate EPS torque and EHPS force corresponding to the input torque. In order to determine proper timing of LKAS intervention, driving data of electric bus drivers were collected and driving patterns were analyzed using a 2-D normal distribution probability density function. Lane information necessary for the lane-keeping assistance system is obtained from a vision camera mounted on the electric bus. Sliding mode control is used to get a Steering Wheel Angle (SWA) required for LKAS. A Proportional–Integral (PI) control is used to obtain an overlay torque required to track the target SWA. A proposed DLC threshold has been validated using vehicle simulation software, TruckSim, and MATLAB/Simulink. It is shown that the proposed DLC threshold shows good performance in both cases of slow lane departure and fast lane departure. The proposed algorithm has been successfully implemented on the electric bus and evaluated via real-world driving tests. Test scenario setting and the evaluation of performance were carried out by ISO 11270 criteria. It is shown that the algorithm successfully prevented the electric bus from unintended lane departure satisfying ISO 11270 criteria.

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Section: Lane Keeping Assistance Systemmentioning

confidence: 99%

Design and implementation of human driving data-based lane-keeping assistance system for electric bus

Lim

Kim

2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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“…Compared with the traditional mechanical system, the steer-by-wire system has many advantages, such as the further improvement of vehicle safety performance, driving characteristics and maneuverability, vehicle comfort and environmental protection. 1–5…”

Section: Introductionmentioning

confidence: 99%

Design and experimental implementation of observer-based adaptive neural network steering control for automated vehicles

Luo

Wang

2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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In this paper, an observer-based adaptive neural network controller is developed for the Steer-by-Wire (SbW) system of automated vehicles with uncertain nonlinearity and unmeasured state. An observer is introduced to estimate the angular velocity of the front wheels, so the hardware cost and the complexity of mechanical structure and electronic circuits are reduced. Then, an observer-based adaptive neural network controller is proposed for the SbW system to achieve excellent steering precision. A radial basis function (RBF) neural network is used to model the uncertain nonlinearity, which mainly includes self-aligning torque and unknown friction torque with strong nonlinearity. The adaptive law of the RBF neural network designed by fuzzy basis functions rather than by its filtering is derived by Lyapunov stability theory and the Strictly Positive Real (SPR) condition. The tracking error and the observation error can be guaranteed to converge asymptotically to zero. Simulation and experimental results for two paths highlight the effectiveness of the proposed control algorithm.

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“…Variable ratio steering systems are divided into three categories at present, including the steer-by-wire system (SBW), the electronic controlled steering system (ECS) and the mechanical variable ratio steering system (MVRS). The SBW is operated by the control unit, which can directly drive a steering motor to implement the change in the wheel turning angle; however, due to the lack of a mechanical connection, its safety needs to be improved [3] . The ECS has successfully integrated a mechanical steering system and a set of double planetary gear mechanisms driven by an electric motor to provide an additional wheel angle to regulate transmission ratio, so it is more practicable [4] , but the extra gear mechanism increases manufacturing difficulty and energy consumption.…”

Section: Introduction mentioning

confidence: 99%

Geometrical design of variable ratio tooth profile based on Boolean subtraction operation and a novel modification method

Niu

Xin

et al. 2020

International Journal of Agricultural and Biological Engineering

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Variable transmission ratio racks show great potential in rice transplanters as a key component of variable transmission ratio steering to balance steering portability and sensitivity. The objective of this study was to develop a novel geometrical design method to achieve quick, high-quality modeling of the free curvilinear tooth profile of a variable transmission ratio rack. First, a discrete envelope motion 3D model was established between the pinion-sector and the variable transmission ratio rack blank based on the mapping relationship between the rotation angle of the pinion-sector and the displacement of the rack, according to the variable transmission ratio function. Based on the loop Boolean subtraction operation, which removed the pinion-sector from the rack blank during all moments of the discrete motion process, the final complex changing tooth shape of the variable transmission ratio rack was enveloped. Then, since Boolean cutting residues made the variable ratio tooth surface fluctuant and eventually affected the precision of the model, this study proposed a modification method for establishing a smooth and continuous tooth profile. First, a novel fitting algorithm used approximate variable ratio tooth profile points extracted from the Boolean cutting marks and generated a series of variable ratio tooth profiles by utilizing B-spline with different orders. Next, based on a transmission stability simulation, the variable ratio tooth profile with optimal dynamic performance was selected as the final design. Finally, tests contrasting the transmission stability of the machining samples of the initial variable ratio tooth profile and the final variable ratio tooth profile were conducted. The results indicated that the final variable ratio tooth profile is more effective than the initial variable ratio tooth profile. Therefore, the proposed variable ratio tooth profile modeling and modification method for eliminating Boolean cutting residues and improving surface accuracy is proved to be feasible.

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

Cited by 12 publications

References 13 publications

Design and implementation of human driving data-based lane-keeping assistance system for electric bus

Design and implementation of human driving data-based lane-keeping assistance system for electric bus

Design and experimental implementation of observer-based adaptive neural network steering control for automated vehicles

Geometrical design of variable ratio tooth profile based on Boolean subtraction operation and a novel modification method

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