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

Kirli, Ahmet; Arslan, M. Selçuk

doi:10.1177/1687814016656587

Cited by 12 publications

(8 citation statements)

References 26 publications

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“…Note that some of these parameters are directly related to the comfort 1,15,16,19,21 and the rest are common performance measures of autonomous driving. 23,47…”

Section: Resultsmentioning

confidence: 99%

“…with G i and G ij defined in equations (46) and (47). Hence, the conditions of G i 0 0 and G ij 0 0, ensure G(a) 0 0.…”

Section: Lemma 2 Let Us Consider a Matrix Expression Of The Form 42mentioning

confidence: 99%

“…If there exists a symmetric positive definite matrix Z 2 < n3n and a rectangular matrix W 2 < m3n such that equations (46) and (47) hold…”

Section: Lemma 2 Let Us Consider a Matrix Expression Of The Form 42mentioning

confidence: 99%

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Carsickness-based design and development of a controller for autonomous vehicles to improve the comfort of occupants

Sever

Zengin

Kirli

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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It is anticipated that passengers in autonomous vehicles will be more occupied with in-vehicle activities. Loss of the authority on driving and engaging in non-driving tasks could cause lower predictability of car motions. This decrease in predictability is expected to increase the sensitivity to carsickness. It appears that it is crucial to develop controllers for autonomous driving with the capability of improving passenger comfort by reducing carsickness. In this regard, it can be asked how the motion variables can be used for the minimization of a carsickness-related measure, while the vehicle is required to follow a given path. In this study, an optimal control approach is being proposed to minimize a quantitative measure of carsickness. In order to address carsickness during autonomous maneuvers, the well-known motion sickness dose value formulation in ISO 2631-1 is augmented with horizontal direction motion components to define a performance measure. The performance measure includes the motion sensed in vestibular system rather than the motion occurring in the vehicle itself. Therefore, mathematical model of the vestibular system is included in the design of controller. Effects of acceleration and jerk are included in performance measure simultaneously. Control oriented linear parameter varying vehicle model is developed to design the path following controller. By means of simulation studies in which path following control is implemented, motion sickness dose values of the controlled vehicle are examined. It is shown by a regular lane change test at various speeds that the proposed controller, which seeks the minimization of the motion sickness dose value, achieves a reduction of the acceleration and jerk felt by a passenger, while the vehicle follows the given path.

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“…Note that some of these parameters are directly related to the comfort 1,15,16,19,21 and the rest are common performance measures of autonomous driving. 23,47…”

Section: Resultsmentioning

confidence: 99%

“…with G i and G ij defined in equations (46) and (47). Hence, the conditions of G i 0 0 and G ij 0 0, ensure G(a) 0 0.…”

Section: Lemma 2 Let Us Consider a Matrix Expression Of The Form 42mentioning

confidence: 99%

See 1 more Smart Citation

Carsickness-based design and development of a controller for autonomous vehicles to improve the comfort of occupants

Sever

Zengin

Kirli

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part D:

Self Cite

View full text Add to dashboard Cite

show abstract

“…A matching method of electric power steering (EPS) assistant characters was proposed to obtain the inherent road feel of a vehicle, which can supply a good steering feel to the driver (Liu and Ji, 2011). In order to minimize the physical workload as well as lateral acceleration of a vehicle, optimization of a hysteresis-based steering feel was studied (Kirli and Arslan, 2016). An objective steering feel measure method was proposed where a steering feel model of appropriate fidelity to capture these important elements of steering feel was introduced (Balachandran and Gerds 2015).…”

Section: Introductionmentioning

confidence: 99%

A bilateral control scheme for vehicle steer-by-wire system with road feel and steering controller design

Zheng

Liu

2017

Transactions of the Institute of Measurement and Control

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Steer-by-wire (SBW) system replaces the mechanical linkages in a conventional steering system with electronic actuators. However, such a steering system has problems regarding how to harmonize angle and torque close loop control strategy whilst guaranteeing SBW system stability. Towards this problem, a bilateral control scheme is proposed for SBW system with steering and road feel feedback control. A new torque and angle feedback deviation type bilateral control scheme is designed based on the analysis of several typical bilateral control schemes. In this bilateral control scheme, it only needs to measure steering wheel angle, steering wheel torque, pinion angle and steering motor torque, whilst it does not need to estimate tire and road force, neither to deploy complicated and expensive sensors or devices. The Llewellyn stability criterion and wave variable control are used to analyze the influencing factors of the stability of the SBW system and to control the stability respectively. The transparency of the SBW system is analyzed based on the impedance theory. In order to improve vehicle handling, the road feel feedback torque is designed by using a compensation controller. The bilateral control scheme and compensation controllers are implemented and their performance is experimentally validated using test vehicle. Test results demonstrate the efficiency and effect of the proposed algorithm.

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“…The behavior of hysteresis curve is also characterized by a lag between input and output. In this context, the Bouc-Wen hysteresis model has been selected to model the steering feel [29]. Its mathematical simplicity and suitability for modeling the mechanical systems have been the factors in selecting the Bouc-Wen model.…”

Section: Introductionmentioning

confidence: 99%

A Hysteresis-Based Steering Feel Model for Steer-by-Wire Systems

Arslan

2017

Mathematical Problems in Engineering

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A mathematical model of steering feel based on a hysteresis model is proposed for Steer-by-Wire systems. The normalized BoucWen hysteresis model is used to describe the steering wheel torque feedback to the driver. By modifying the mathematical model of the hysteresis model for a steering system and adding custom parameters, the availability of adjusting the shape of steering feel model for various physical and dynamic conditions increases. Addition of a term about the tire dynamics to the steering feel model renders the steering wheel torque feedback more informative about the tire road interaction. Some simulation results are presented to establish the feasibility of the proposed model. The results of hardware-in-the-loop simulations show that the model provides a realistic and informative steering feel.

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

Cited by 12 publications

References 26 publications

Carsickness-based design and development of a controller for autonomous vehicles to improve the comfort of occupants

Carsickness-based design and development of a controller for autonomous vehicles to improve the comfort of occupants

A bilateral control scheme for vehicle steer-by-wire system with road feel and steering controller design

A Hysteresis-Based Steering Feel Model for Steer-by-Wire Systems

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