Browse Topic: Power steering

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Investigation of Fatigue Durability Failure Mechanisms in High-Pressure Hydraulic Pipes of Power Steering Systems2026-26-0542To be published on 01/16/2026
Abstract—The high-pressure hydraulic pipeline in the power steering system is a vital component for ensuring optimal performance. During warranty analysis, leakage incidents were observed at the customer end within the warranty period. The primary factors contributing to these failures include pipe material thickness, material composition, mechanical properties, and engine-induced vibrations. This study investigates fatigue-related failures through detailed material characterization and Computer-Aided Engineering (CAE) based on real world usage road load data collected. The objective is to identify the root causes by examining the influence of varying pipe thickness on fatigue life. The investigation discovered that crack initiation predominantly occurred on the concave side of bent pipe sections, specifically on the engine-side high-pressure steering line, which is connected to the power steering pump mounted on the engine. Fracture surfaces exhibited characteristics consistent with
SURVADE, LALIT, Koulage, Dasharath Baliram, Biswas, Kaushik
Low-speed steering returnability analysis and improvements through mathematical modeling and CAE simulation for SUV2026-26-0573To be published on 01/16/2026
In driving, steering serves as the input mechanism to control the vehicle's direction. The driver adjusts the steering input to guide the vehicle along the desired path. During maneuvers such as parking or U-turns, the steering wheel is often turned fully from lock to lock and then released. It is expected that the steering wheel quickly returns to its original position. Steering returnability is defined as the ratio of the difference between the steering wheel position at lock to lock and the steering wheel angle after 3 seconds of release, to the steering wheel angle at the lock position, under steady-state cornering conditions at 10 km/h. Industry standards dictate that the steering system should achieve 75% returnability under these conditions within 3 seconds. Achieving proper steering returnability characteristics is a critical aspect of vehicle design. Vehicles equipped with Electric Power-Assisted Steering (EPS) systems can more easily meet returnability targets since the
Singh, Ram Krishnan, ahire, Manoj, JAIN, PRIYA, Vellandi, Vikraman, SUNDARAM, RAGHUPATHI, Paua, Ketan
Digital Rack Load Estimation Methodology for Electric Power Steering to Optimize Motor Sizing2026-26-0383To be published on 01/16/2026
Electric Power Assisted Steering (EPAS) systems are integral to modern passenger vehicles, contributing to improved steering performance, enhanced safety, and enabling the integration of advanced driver assistance systems (ADAS). A critical aspect of EPAS design is precise motor sizing, which has a direct impact on steering dynamics, driver input effort, and overall system efficiency. The selection of an appropriate motor is governed by several parameters, including peak rack load, maximum steering speed, electrical supply constraints, thermal limitations, and spatial packaging considerations. This study specifically addresses the accurate estimation of rack force, a primary parameter guiding motor selection and assist control calibration. Previous researchers have explored multiple EPAS motor sizing methodologies such as iterative physical testing and simplified analytical modelling. Out of these, iterative physical testing incurs high resource costs and may hamper the development
Adsul, Sourabh, Iqbal, Shoaib
Analysis of High voltage fuse failures due to reverse surge currents flow in the Power distribution unit of Electric vehicles2026-26-0182To be published on 01/16/2026
Commercial Electric vehicles are revolutionizing the transportation industries with zero emission, lower noise level and increased efficiency. But, High voltage (HV) fuse failures due to reverse surge currents in the Power distribution unit (PDU) hampers the field operation and raise the sensitive safety concerns. This paper embarks on an in-depth exploration of the Reverse surge current flows from the DC-DC converter and Auxiliary (AUX) inverters high voltage input side to Traction system high voltage input point. Failures of HV fuses can lead to the unintentional shutdown of the e-compressor system and steering motor system while operating the EV, which raises critical safety concerns. If the steering motor fails, the bus will lose power steering assistance, making the steering wheel much harder to turn. If the e-compressor fails, it could result in loss of braking assist. This could make it difficult to stop the vehicle, especially in an emergency situation or when driving at high
Bamania, Mihir, kinjalkar, Milind, Amancharla, Naga Chaithanya, Salunke, Pradeep
Development of Fuel efficiency Enhancement Module for tractors2024-26-006401/16/2024
In farm tractors, the available drawbar power and Power Take-Off (PTO) power are generally lower than the engine power due to parasitic losses. These losses are caused by engine-driven auxiliary loads such as cooling fans, hydraulic pumps for power steering, alternators, etc. Minimizing these parasitic losses can increase the available drawbar power and PTO power, resulting in direct fuel savings by reducing fuel consumption. The continuous increase in fuel costs and the environmental impact of emitted gases from burned fuel into the atmosphere have necessitated the replacement of hydraulic power steering and mechanical fans with electric power steering (EPS) and electric fans, respectively, to improve efficiency. The existing battery has been replaced with a higher capacity battery to provide power to the electric fan, electric power steering, and other electrical components. Additionally, the existing alternator has been replaced with a higher capacity alternator to meet the
Arjun, P., Natarajan, Saravanan, Chinnathambi, Manikandan, a, Radhakrishnan, nabar, Omkar
Methods to enhance vehicle handling by improving Steering On centre feel and return ability in commercial vehicles equipped with hydraulic assisted steering system.2024-26-005201/16/2024
With rapid improvement in the road infrastructure the average turnaround time of the cargo vehicles has been reduced by 25%.New generation commercial vehicles has better power to weight ratio by integrating high horse power engines. With this latest vehicle configuration average speed of fleet is increased by 30% and more focus is provided towards vehicle safety and handling. Driver confidence on vehicle handling improves with better on centre feel and return ability, these two parameters are easily tuneable with modern electric power assisted steering system, whereas with hydraulic power assisted system these parameters optimization have adverse effect on other steering performance. This paper covers study of following parameters of hydraulic assisted steering system and its optimization on vehicle handling. 1. Steering Gearbox torsion bar stiffness 2. Steering pump flow 3. Caster angle 4. Linkages ball joint performance 5. Steering Gearbox valve curve Base vehicle level objective
K, Arun Kumar, chikate, Abhishek, Kumar, Ganesh
Analysis and Annihilation of Grunt Noise in Hydraulic Power Assisted Steering Systems2024-26-021801/16/2024
Hydraulic steering systems employ pressurized fluid to alleviate the effort needed to steer the wheels of an automobile. Hydraulic Power Assisted Systems (HPAS) are cost-efficient, yet intricate. As customer trends lean towards reduced effort and improved handling, HPAS must intervene more in steering, leading to increased pressure requirements from the HPAS pump. Consequently, HPAS components must withstand higher pressure liquid and operate with closer tolerances, occasionally resulting in anomalous functioning. This paper delves into one anomaly with HPAS systems "Grunt Noise", a phenomenon caused by the resonance of the Torsion bar (T-bar) with fluid pressure pulsations. An extensive study was conducted to identify load conditions for grunt noise generation, examine transfer paths and analyze its frequency band. The study also explored the cascading process, reproducing the vehicle-level phenomenon at the rig-level for the Rack and Pinion and later at Pinion Valve assembly level
SETHI, AJITESH, Titave, Uttam, Vardhanan K, Aravindha Vishnu, Zalaki, Nitin, Naidu, Sudhakara
Electric Power-Assist Steering System CAE Simulation2022-01-029403/29/2022
The steering system is to provide the driver with the possibility of lateral vehicle guidance, i.e. to influence the lateral dynamics of the vehicle. It is crucial that the steering input is promptly translated by the steering system and the vehicle is in a high-quality directional stability. The use of an electrical power steering system is to meet higher requirements for vehicle safety, ride comfort, and driver-assist. CAE is a powerful tool to simulate the response of a steering system under various working scenarios. How to correctly modeling the steering system is the key leading to the right solution. The goal should be clearly defined and the modeling procedure should be well planned and followed. Through the example of creating a model for EPAS, details are described.
Song, Gavin, Wou, Jason
Hazard Analysis and Risk Assessment based on Electric Power Steering according to ISO 262622022-01-106203/29/2022
ISO 26262 is a functional safety standard for automotive electrical and electronic system . Hazard Analysis and Risk Assessment (HARA) is a sub-phase of the ISO26262 concept phase, which is one of most important safety activities of the ISO 26262 safety lifecycle. This paper details application of HARA for Electric Power Steering (EPS) system. First, item definition for EPS System is sketched out，which is prerequisite for the HARA. Item definition includes system description, its function, boundary, and interfaces to external systems. Then analysis procedure HARA of EPS System is detailed out ,including identifying potential hazards, developing a set of specific hazardous events, and assessing the risk of each hazardous event to determine the Automotive Safety Integration Levels (ASIL). In the end，according to analysis procedure of HARA, a set of safety goals and safety states for EPS System is proposed. The design of safety goals and safety states is applied to provide guidance to
Li, Lingyang, Du, Jia, Ye, Xiaoming, Liu, Xin, Wen, Tao
Subjective and Objective Steering feel Evaluation of compact SUV electric power steering system using Hardware in the Loop Simulation2021-26-008009/22/2021
Hardware-in-the-loop (HIL) test benches are indispensable for the development of modern vehicle dynamics controllers (VDCs). They can be regarded as a standard methodology today, because of the extremely safety critical nature of the multi-sensor and multi-actuator systems used in vehicle dynamics control. The required high quality standards can only be ensured by systematic testing within a virtual HIL environment before going into a real car. The steering system is an important aspect of the automobile from operational safety and driver enjoyment perspectives. Current Problem/Opportunity is realistic subjective steering feel prediction before vehicle build. And upfront predict the handling characteristics more accurately with subjective feel before proto build. Current Issue is difficult to convert the objective data into subjective feel and difficult to incorporate the nonlinear steering characteristics with hysterics, friction and power assist curves using virtual simulation
Anthonysamy, Baskar, TK, Sreeraj, TK, Sreedeep, N, BALARAMAKRISHNA, NAGARAJAN, NAGAPRAKASH
Novel technique to address the humming noise with pulley driven Hydraulic power steering pump on light commercial vehicles2021-26-030809/22/2021
In the current customer centric automotive market, NVH is one of the prime focus for the automotive industry. Almost all light commercial vehicle in the market are with hydraulic power steering systems. Hydraulic power steering pump is the heart of the steering system which circulates the hydraulic oil into the system for assisting the driver with the help of hydraulic steering gear. One of the NVH problem which is inevitable with the hydraulic vane pump is the humming noise. This noise will be a customer irritant in quitter cab vehicles. This paper describes a novel technique for reducing the humming noise which is perceived at driver ear level. Existing steering components is analyzed at digital level (NVH CAE) and physical vehicle objective measurements are carried out to set the acceptance criteria. Various components of the hydraulic power steering system are instrumented on actual vehicle and measurements are taken. Existing design is optimized based on the CAE results and
K, Arun Kumar, Taware, Girish, Kumar, Ganesh
EV System Modelling And Co-simulation With Integrated HVAC And Auxiliary Models2021-26-017209/22/2021
The current simulation models of EV and ICE Vehicles are well known in industry for their use in estimating the fuel economy or Range benefits because of controller calibrations and component sizing. However, there is a gap in understanding the behavior of accessories such as HVAC, power steering and other such auxiliary loads and the energy losses associated with them. Impact of thermal behavior of electronics on vehicle range also needs to be studied in detail. These kinds of studies help OEM and tier 1 manufactures in improving their design concepts significantly with minimum cost and development time. Hence, the focus of this study is on building simulation models of thermal, electrical, traction and control circuits of a typical electric vehicle. These models are then integrated, and analysis is performed to understand vehicle system level performance metrics. Individual models have been built for HVAC and thermal circuit of on EV in AMESim, HV and LV electrical power distribution
Sadaraboina, Moses Vidya Sagar, Joshi, Parth, Negi, Aditya, Zulkefli PhD, Mohd Azrin
Ford engineered 2022 Bronco to give Jeep the willies21AUTP08_0908/01/2021
Ford engineers refused to utter a single bad word about Jeep Wrangler during the course of the week-long 2022 Bronco media drive event in Austin, Texas. In fact, some among that gracious bunch admitted, ahem, that they may have owned and modified a Wrangler or two in their lifetimes. Jeep's profit-spinning 4x4 icon has that effect on competitors and fans alike. And it “has had this space to itself for decades,” noted Eric Loeffler, chief program engineer for U725, Ford's code for the new Bronco. About five years ago, Ford decided to unseat the Jeep's monopoly. The result is a modern take on another historic nameplate that finally brings Wrangler a truly serious competitor - and beats it in at least three key areas.
Brooke, Lindsay
EDITORIAL: The legacy of the pioneering, controversial EV-121AUTP03_0403/01/2021
Recently I was reminded of an anniversary: 30 years ago, GM chairman Roger Smith announced his company's commitment to build the pioneering and controversial EV-1 electric vehicle (EV). Two media colleagues preparing articles about the landmark called me for comments on EV-1's place in history. It seemed like 1996 (the year EV-1 entered production) all over again. The anniversary of the first mass-produced, purpose-designed EV of the modern era roughly coincided with GM's commitment to an all-EV light-vehicle portfolio by 2035. But that much-heralded news was not without critics. Some of the coverage carried brickbat quotes from Dan Becker, longtime auto-industry heckler from the Sierra Club, now with a group called Center for Biological Diversity.
Brooke, Lindsay
Development of the Active Sound Generation Technology using Motor Driven Power Steering System2020-01-153606/03/2020
As original engine sound is usually not enough to satisfy the driver’s desire for the sporty and fascinating sound, active noise control (ANC) and active sound design (ASD) have been great technologies in automobiles for a long time. However, these technologies which enhance the sound of vehicle using loud speakers or electromagnetic actuators etc. lead to the increase of cost and weight due to the use of external amplifier or external actuators. This paper presents a new technology of generating a target sound by the active control of a permanent magnet synchronous motor (PMSM) which is already mounted in vehicle. Firstly, an algorithm of this technology, called an active sound generation (ASG), is introduced with those signal conversion process, and then the high frequency noise issue and its countermeasure are presented. Secondly, ASG test bench is designed using a motor driven power steering (MDPS) system and then it is checked if ASG has any influence on an original function of
Chang, Kyoung-Jin, Angerpointner, Leonhard, Schubert, Dominik, Niegl, Matthias, Orehek, Martin, Pfeffer, Peter
Automatic Parking Control Algorithms and Simulation Research Based on Fuzzy Controller2020-01-013504/14/2020
With the increase of car ownership and the complex and crowded parking environment, it is difficult for drivers to complete the parking operation quickly and accurately, which may cause traffic accidents such as vehicle collisions and road jams because of poor parking skills. The emergence of an automatic parking system can help drivers park safely and reduce the occurrence of safety accidents. In this paper, the neural network identifier on the control method of an adaptive integral derivative of a neural network is proposed for an automatic parallel parking system with front-wheel steering is studied by using MATLAB/Simulink environment, and the simulation is carried out. Firstly, according to vehicle parameters and obstacle avoidance constraints, the minimum parking space, and parking starting position are calculated. Meanwhile, the path planning of parallel parking spaces is carried out by quintic polynomial. The fuzzy control algorithm and neural network algorithm are used to
Philip, Agyeman Kwabena, Sackey, Micheal, Owusu-Ansah, Prince, Hassan, Mohamed A., Valiev, Jamshid F., Frimpong, Justice, Akuh, Raymond
GNSS-Based Lane Keeping Assist System Using Model Predictive Control and Time Delay Compensation2020-01-102304/14/2020
In recent decades, research and development in the field of autonomous vehicles have rapidly increased throughout the world, and autonomous driving technologies have begun to be applied to mass production vehicles. Especially recently, even affordable mass production vehicles have begun to be equipped with some autonomous driving systems such as a Lane Keeping Assist (LKA) system. In general, mass-produced LKA systems use a lane detection camera as a means of keeping the lane. One of the common limitations of camera-based LKA systems is that the lane keeping performance significantly decreases when the camera cannot detect lane markings for various reasons such as snow coverage or blurred lane markings. To overcome this limitation, we have developed Global Navigation Satellite System (GNSS)-based LKA systems, which are not affected by the surrounding environment such as weather and the condition of lane markings. In our latest study, we applied Model Predictive Control (MPC) to our
Tominaga, Kenta, Takeuchi, Yu, Kitano, Hiroaki, Tomoki, Uno, Quirynen, Rien, Cairano, Stefano
Computation of Safety Architecture for Electric Power Steering System and Compliance with ISO 262622020-01-064904/14/2020
Nowadays and with the advancement of the automotive industry, functional safety has become one of the most significant challenges for autonomous and connected vehicles. The automotive industry is transforming from conventional driving technology where the driver or the human being is a part of the control loop to fully autonomous development and self-driving mode. The SAE levels of autonomy define level 4 by (These automated driving features will not require you to take over driving). Thus, more and more safety-related electronically controlled units ECUs are deployed in the control module of the vehicle. As a result, more complexity of system architecture, software, and hardware are interacting and interfacing which increases the risk of both systematic and random hardware failures. In order to reduce these risks and avoid any potential failure or loss of control, ISO 26262 was introduced and developed to guide the automotive original equipment manufacturer OEMs and suppliers to
Salih, Saif, Olawoyin, Richard
Development of the Rig and Hardware-in-the-Loop Test Bench for Evaluating Steering Performance2020-01-064704/14/2020
The development of vehicles faces changes in many future flows. The vehicle’s power transfer systems are being changed from conventional types to Hybrid, Electric and Hydrogen vehicles. At this moment, the technology of EPS (Electric Power Steering) system has been expanding from a simple torque assist system to LKAS(Lane Keeping Assist System), PAP(Park Assist Pilot), ALCAS(Active Lane Change System), ADAS(Advanced Driver Assistance System). A good test bench is necessary for the evaluation of both hardware and control logics of EPS in these complexities of development process. Simultaneous Rig and HILS tests can be performed to check that the steering hardware system can perform to the concept of the development vehicle and develop EPS control logic performances. The hardware performance of the steering system might be evaluated based on measured friction and stiffness, taking into account various driving conditions. And the control logic of the EPS can be evaluated based on the
Kim, Changsu, Lee, Byungrim, Park, Youngdae
Ford's max Mustang brings ‘world class’ into the sports coupe conversation20AUTP03_1203/01/2020
There's the old saw about a something being better than the sum of its parts. That phrase applies to the 2020 Ford Mustang Shelby GT500 - despite most of its parts being categorically bombastic. Its performance far exceeds any old-school ponycar yardstick, but those expecting a straight-line brute will be surprised. The Shelby GT500's sublime chassis stands it more in the company of powered-up Porsches than howling Hellcats. The supercharged “Predator” 5.2-L V8's stun-grenade numbers - SAE-rated 760 hp and 625 lb-ft (847 Nm) - might logically be blamed for perpetuating any perceptions of the Shelby GT500 as one-trick musclecar. It's the “most power-dense V8 in America,” boasts Mustang chief engineer Carl Widman. The backstory is nearly as good as the raw performance: it was long assumed that the Predator would be a supercharged variant of the heralded and high-revving 5.2-L “Voodoo” flat-plane-crankshaft V8 that debuted in 2015's Mustang Shelby GT350. Instead, engineers fitted a
Visnic, Bill
Composite Steering Strategy for 4WS-4WD EV Based on Low-Speed Steering Maneuverability2019-01-505211/04/2019
A composite steering control strategy, which combines four-wheel steering (4WS) and differential steering, is proposed in this paper, to optimize steering maneuverability in the conditions where the vehicle speed is below 15 Km/h, mainly for U-turning and parking conditions. A dynamic model is developed for the steering system and the tire system. Taking different steering wheel inputs into consideration, a 4WS control strategy proportional to the front wheel steering angle is quoted to improve the steering maneuverability in the low speed conditions and guarantee the manipulability by controlling the side slip of the vehicle. Based on the 4WS system, this paper explores the possibility of further improving the low-speed maneuverability of the vehicle through differential steering. And the differential steering control strategy is developed, including four hub-motor output modes. A composite steering controller is designed based on the 4WS-4WD electric vehicle platform. Through the
Wang, Yang Yang, Liu, Zhi Guang, Jiang, Yuan Xing
EDITORIAL: AI, ADAS & AVs-oh my!19TOFHP08_0608/01/2019
Active safety and advanced driver-assistance systems (ADAS), along with increasingly sophisticated artificial intelligence (AI) platforms-are the building blocks essential to climbing the SAE levels of automation. Acquisitions, partnerships and advanced-technology demonstrations in these areas are occurring at a dizzying rate, as the industry has set its sights on Level 4 (L4) automated vehicles (AVs). One major in-process merger involves two heavyweights in this space, ZF and WABCO. In June, WABCO shareholders approved the acquisition by ZF, which both companies expect to finalize in early 2020. Importantly, the acquisition will expand ZF's expertise to include commercial vehicle (CV) braking solutions for the first time-a significant capability for the control of automated driving functions like emergency braking maneuvers of trucks and trailers. This fully integrated system approach is expected to accelerate the introduction of autonomous CV functions moving forward.
Gehm, Ryan
Steering for Off-Road, Rubber-Tired MachinesJ1511_201907 (Current)07/29/2019
This SAE Standard applies to off-road rubber-tired machines having rated speed capability exceeding 20 km/h. Only the following machine categories in SAE J1116 are included in the scope of this document. a. Earthmoving b. Other than earthmoving: except rollers and compactors c. General purpose industrial d. Forestry e. Specialized mining machinery Applicable steering systems include the following means of providing power for steering: a. Manual steering b. Power-assisted steering c. Full-power steering This document does not imply that secondary steering is mandatory. However, if secondary steering is provided, performance and test requirements are included.
OPTC1, Personnel Protection (General)
Robust NVH Engineering Using Experimental Methods - Source Characterization Techniques for Component Transfer Path Analysis and Virtual Acoustic Prototyping2019-01-154206/05/2019
A major challenge in automotive NVH engineering is to approach complex structure-borne sound and vibration problems with sufficient accuracy but reasonable experimental effort. Typical issues encountered are poor correlation between objective component performance criteria tested for during bench validation and corresponding subjective targets evaluated during system validation in the actual vehicle. Additional challenges arise from the need to impose assumptions on sophisticated physical vibration problems to reduce the complexity to a level feasible for conventional experimental test methods. This paper addresses all mentioned issues by elaborating on a system NVH engineering approach employing Virtual Acoustic Prototyping (VAP) (related to what is now often called component Transfer Path Analysis) to synthesize time domain sound and vibration responses of vibrating machinery operated in a virtual vehicle environment. One crucial step of VAP is to characterize the strength of
Wienen, Kevin, Sturm, Michael, Moorhouse, Andy, Meggitt, Joshua
A Control Strategy to Reduce Torque Oscillation of the Electric Power Steering System2019-01-151606/05/2019
This paper proposes a new evaluation method of analyzing stability and design of a controller for an electric power steering (EPS) system. The main purpose of the EPS system’s control design is to ensure a comfortable driving experience of drivers, which mainly depends on the assist torque map. However, the high level of assist gain and its nonlinearity may cause oscillation, divergence and instability to the steering systems. Therefore, an EPS system needs to have an extra stability controller to eliminate the side effect of assist gain on system stability and attenuate the unpleasant vibration. In this paper, an accurate theoretical model is built and the method for evaluating system quality are suggested. The bench tests and vehicle experiments are carried out to verify the theoretical analysis. The evaluation method proposed in this paper can not only guide the design of controller parameters, but also evaluate the control effect while the performance of several controllers are all
Fu, Duo, Rakheja, Subhash, Yan, Wen-Jun, Shangguan, Wen-Bin
GNSS Based Lane Keeping Assist System via Model Predictive Control2019-01-068504/02/2019
Recently, the field of autonomous driving has been dramatically expanding, and some of the key technologies like the Lane Keeping Assist (LKA) system have begun to be applied to mass production vehicles. In general, mass-produced LKA systems use a lane detection camera as a means of keeping the lane. One of the common limitations of camera-based LKA systems is that the lane keeping performance significantly decreases when the camera cannot detect lane markings for various reasons such as snow coverage and sunlight. To overcome this limitation, we have developed a Global Navigation Satellite System (GNSS) based LKA system, which is not affected by the surrounding environment such as weather and lighting. Our LKA system uses centimeter-level augmentation service and high-definition maps, whereby the LKA system can accurately estimate its own position. This feature potentially enables our LKA system to show higher lane-keeping performance than camera-based LKA systems even when lane
Tominaga, Kenta, Takeuchi, Yu, Tomoki, Uno, Kameoka, Shota, Kitano, Hiroaki, Quirynen, Rien, Berntorp, Karl, Cairano, Stefano
A Drive-by-Wire Conversion of an FMVSS-500 Vehicle for Autonomous Driving Applications2019-01-070404/02/2019
Autonomous driving has witnessed many developments in the past decade. Most automotive manufacturers and technology companies have been investing in the software and platform development of these vehicles, and long strides have been made in this domain. Nonetheless, academia has been partially isolated from the practical efforts of these developments, due to the cost involved in converting a standard vehicle into a drive-by-wire platform suitable for self-driving vehicular research. In this paper, a low-cost autonomous vehicle platform is developed and the process for converting a Polaris Gem e2 FMVSS-500 vehicle to brake-by-wire, throttle-by-wire, and steer-by-wire is elaborated. The tools and the procedures followed here were all conducted by students, in house, and can be easily duplicated for other FMVSS-500 compatible vehicles. Discussions include the interface of an embedded controller for an electric power steering system, electronic control of hydraulic brake pressure, and
Yeranosian, Viken, Patel, Nayan, Vega, Joseph, Mohammad, Utayba, Paulik, Mark, Santora, Michael
Instrumented Steering Wheel for Accurate ADAS Development2019-01-124104/02/2019
We introduce in this paper a new Instrumented Steering Wheel (ISW) for ADAS development. The ISW has been designed, constructed and employed with satisfactory results. The ISW is able to measure three forces, three moments and the grip force at each hand of the driver. The ISW has been used for ADAS activities on an instrumented road vehicle. The aim was to use both the vehicle states and the ISW data for evaluating the driver behaviour. Two research activities were performed. The first activity refers to monitoring the driver behaviour during tests on a track. The second activity refers to the use of haptic ISWs, able to improve the ADAS systems. Referring to the first activity, the greatest majority of drivers applied always the same sequence of forces (pull, radial, tangential) either during emergency manoeuvres, either during slow speed curving. Referring to the second activity, we found that, by exploiting an ISW, the driver steering purpose could be inferred, before the steering
Mastinu, Gianpiero, Gobbi, Massimiliano, Comolli, Francesco, Hada, Masatoshi
The Motor Current Sensor Fail-Operation Algorithms for the EPS System2019-01-140003/25/2019
Recently, as the autonomous driving technology has been actively developed, the safety performance of EPS(Electric Power Steering) system of automobile is increasing more and more. Therefore, this paper propose a current sensorless control method that can continuously control the motor current even when the current sensor used for motor control in the EPS system fails. The current sensorless method proposed in this paper is a structure that preliminarily measures the output voltage required for motor current control and saves it as a table in SW, and it can be implemented easily without modeling of motor or parameter estimation The proposed method is implemented in EPS system of real vehicle and its performance is verified to be sufficient for steering assist.
Kim, Munsu
Development of Hybrid Power Steering System for Commercial Vehicle2019-01-141503/25/2019
Future technology trends of commercial vehicle steering components can be divided into three types. Environment-friendly technologies for environment-related regulations such as reducing emissions and improving fuel efficiency, and technology for driving convenience using electric steering control systems, and safety technology to protect drivers, passengers, nearby vehicles and pedestrians. Heavy duty commercial vehicles require a high-power steering system that used engine-driven hydraulic pump systems (generally used min 120bar, 17Liter/min) compared to passenger cars. In recent technical trend, In order to improve fuel efficiency and realize autonomous driving technology, we designed EHPS and Motor driven electric control actuator with the same structure as C-EPS. Unlike the HPS system, the power used in the EHPS system is the motor, which rotates the gear pump to generate flow and pressure, and the steering oil is delivered to the ball nut gearbox to operate the power steering
Lee, Byoungyun
Development of Compensation Logic for EPS in Limit Cornering Condition2019-01-142203/25/2019
This paper proposes steering compensation logic of Electric Power Steering (EPS) system in limit cornering condition. Steering wheel torque is decided by relationships between internal forces and external forces. The internal forces are steering frictions and assist force. The external forces are transferred from tire forces through kingpin axis and steering system. Kingpin moments are analyzed by using vector analysis and tire model. Relations of these forces are defined and used to explain steering disturbance by comparing simulation results and measurement data. Using these relationships, the proposed compensation logic is designed. This logic is verified by simulation models and validated in proto type vehicle.
Lee, Hanseung, Lee, Jae Kil
Optimizing Steering Column Layout and UJ Phase Angle to Enhance Vehicle Dynamics Performance2019-01-501002/05/2019
Vehicle dynamics is one of the most important vehicle attributes. It is classified into three domains, the longitudinal, vertical, and lateral dynamics. This paper focuses on optimizing the lateral vehicle dynamics which is driven by the straight ahead controllability and cornering controllability of the vehicle. One of the important parameters that dictates these sub-attributes is the steering ratio. Therefore, designing the right steering ratio is critical to meet the vehicle “specific” targets. Significant amount of work has been done by many researchers on variable steering ratio by implementing variable gear ratio (VGR) rack, active steering, and steer-by-wire systems. This paper discusses the methodology and considerations to optimize the steering ratio for a constant gear ratio rack by optimizing the steering column layout, viz., orientation and the phase angle in universal joints. A detailed analysis of steering system layout is done to optimize the steering ratio to enhance
Puvvula, Praneeth, Ravuri, Susheel, Dubal, Ajit, Salunkhe, Swapnil
Methodology to Determine Optimum Suspension Hard Points at an Early Design Stage for Achieving Steering Returnability in Any Vehicle2019-26-007401/09/2019
Steering returnability while driving is one of the most important parameter which affects the drive pleasure and handling of a vehicle. Steering returnability refers to the automatic returning response of the steering wheel after taking a full turn while vehicle is being steered during driving. Evaluating steering response characteristics of any vehicle in a virtual environment at early stage of a product development saves significant development time and cost. Through this paper an attempt has been made to develop a methodology for selection of suspension hard points which influences steering returnability characteristics of a vehicle at an early product design stage. Conventionally, suspension kinematic parameters such as Caster angle, Steering axis inclination (SAI), etc. are iterated during vehicle design stage to achieve desired Steering returnability. However, at times vehicle level trials indicate that increasing caster angle or SAI does not guarantee a desirable increase in
Khanna, Nitin Kumar, Jyoti, Manjul, S, Udhayakumar, Senthi, Karthik, Desai, Sakharam
Steering Control of the Off-Highway Vehicles2019-26-010801/09/2019
Steering is integral system of any vehicle to achieve direction control. With driver’s inputs, as steering wheel is turned, the steering mechanism is operated to turn the road wheels to route the vehicle on desired path. This Paper studies the different steering architectures and the learning is applied to improve the off-highway vehicles’ steering control. Off-Highway vehicles have traditionally been using Hydrostatic Power Steering (HPS) mechanism with no feedback controls. This mechanism consists of inherent limitations to vehicle efficiency, reliability and control preciseness. In this paper, HPS is modeled using 1D simulation tools from the system parameters and derived equations. The results are plotted and discussed to acknowledge the merits and demerits of existing system which helped in proposing the alternate steering solution. Different steering architectures are evaluated and trade-off study performed to choose the Electro-Hydraulic Power Steering (EHPS) architecture. The
Joshi, Bharat, Sukumar, Srikant, Jawale, Vinit, Patil, Ojas
Simulator Development for Steer-by-Wire Concept Evaluation2019-26-009901/09/2019
In the recent years steering feel characteristics have emerged as one of the important brand image attributes of automotive OEMs. Since past few decades, the hydraulic assisted steering system (HPAS) on which lot of research was done to tune the steering feel has been taken over by electric power assisted steering (EPAS) system. The EPAS primarily uses an electric motor controlled by an electronic control unit to assist the driver in maneuvering the vehicle. The next big leap in the steering system advancement is steer-by-wire (SbW) technology where the mechanical linkage between the steering wheel and the road wheels is eliminated. The advantages of this system are ease to use, elimination of noise-vibration-harshness of steering system caused by road forces, modularly of steering system for packaging, improved visibility to front-end displays and road ahead and a fun to drive concept. The main challenge of a SbW system is generate the steering feel experienced as in the case of
Puvvula, Praneeth, Iqbal, Shoaib, Abdulla, Shakeel, Gest, Graham, Salunkhe, Swapnil
BP's Nexcel sealed-cell oil system an alternative for controlling GHG emissions19AUTP01_1001/01/2019
The automotive industry is broadening its spectrum of technology to support the reduction of global greenhouse gases not just via electric drivetrains and downsized ICEs but by exploring more non-mainstream solutions. One of those is BP's Nexcel sealed-cell oil-management system, which is being further developed to work in tandem with hybrid drivetrains. The innovation business claims it can deliver a cost benefit able to compete on a $/g CO2-saved basis with more conventional environmentally-focused technologies. Nexcel claims its system is markedly less costly compared to mild hybridization, and instead of becoming a competitor, it sees a combination of the two delivering a significant environmental benefit. Nexcel is now focusing its development work on linking its system with hybrid drivetrains to achieve significant environmental gains. To make the point, it has developed a Toyota Prius demonstrator (above) using its oil management system as a genre-representative vehicle (it is
Birch, Stuart
Nissan's all-new Altima gets variable-compression engine, AWD18AUTP11_0911/01/2018
The Altima sedan is an important product for Nissan, what it calls its “brand ambassador.” Long a solid choice in the midsize sedan segment, its typically conservative sheetmetal over the nameplate's five generations has set benchmarks for inoffensive design. For MY2019, Nissan has moved the all-new sixth-generation Altima onto an updated, autonomous-capable global platform and is providing two new powertrains, its first all-wheel-drive system for a sedan in this market and styling that is clean, handsome and sharp. Nissan obviously has invested heavily in its new sedan and as a package, the latest Altima looks and drives the business. Pricing and content also appear set to compete with longtime and recently refreshed competitors including the Honda Accord and Toyota Camry. All good, save the almost startingly recent industry-wide decline in U.S. sedan sales.
Seredynski, Paul
WHAT WE'RE DRIVING18AUTP10_0510/01/2018
Mercedes-Benz is fond of saying it cascades at least some of the S-Class' posh luxury and technology throughout its range. That's just what it has done for the fourth-generation A-Class, the nameplate that sits at the bottom of the brand's lineup. The new A-Class is heaped with cabin tech, in particular. Built on Mercedes' MFA2 front-wheel-drive platform, the A200 AMG Line version driven is well-connected, having the MBUX (Mercedes-Benz User Experience) touchscreen interface (and a touchpad), plus “Hey Mercedes” voice recognition.
Research on Variable Steering Ratio Control Strategy of Steer-by-Wire System2018-01-158308/07/2018
In this paper, the variable steering ratio control strategies under normal driving conditions and emergency driving conditions were proposed. The variable steering ratio control under normal driving conditions is based on variable yaw rate gain, and takes into account the driver’s operating habits and vehicle handling stability. The steering ratio varies with the vehicle speed and the steering wheel angle, which ensures the vehicle steering sensitivity at low speed and the steering stability at high speed. The variable steering ratio control under the emergency driving conditions is based on yaw rate dynamic feedback control, and the steering ratio varies with the vehicle movement status. We use active steering control which is based on active disturbance rejection control to achieve yaw rate dynamic feedback control, which can improve vehicle stability without affecting the longitudinal movement of vehicle. In order to verify the effectiveness of the proposed variable ratio control
Wu, Yan, Wang, Lifang, Li, Fang
Analysis of Vehicle Steering Stability of Nonlinear Four Wheel Steering Based on Sliding Mode Control2018-01-159308/07/2018
Steering movement is the most basic movement of the vehicle, in the car driving process, the driver through the steering wheel has always been to control the direction of the car, in order to achieve their own driving intention. Four Wheel Steering (4WS) is an advanced vehicle control technique which can markedly improve vehicle steering characteristics. Compared with traditional front wheel steering vehicles, 4WS vehicles can steer the front wheels and the rear wheels individually for cornering, according to the vehicle motion states such as the information of vehicle speed, yaw velocity and lateral acceleration. Therefore, 4WS can enhance the handling stability and improve the active safety for vehicles. Based on the theory of Vehicle Dynamics and Sliding Mode Control, this paper investigates the following issues, Firstly, a 2DOF 2WS vehicle model is built up by using the state-space equations, which will be used to compare the 4WS vehicle model containing vehicle lateral and yaw
Zhang, Jiaxu, Zheng, Hongyu, Zhao, Mengdi
Design of Adjustable Road Feeling Performance for Steering-by-Wire System10-02-02-000806/18/2018
Since steering-by-wire (SBW) system decouples mechanical linkages between front tires and the steering wheel, the road feeling characteristics of SBW system can be designed flexibly to improve the driving experience. In this article, a road feeling system with adjustable performance is proposed based on integrating the elements of the steering wheel module and the steering actuator module of SBW system. In this system, the road feeling torque consists of a main toque and a tuning torque, which are deduced by parametric method. The main torque is to feed back the tire dynamics and road properties to the driver intuitively, and the tuning torque is designed as a compensation of the main torque to tune the road feeling performance. The parameters in the formula of road feeling torque are selected properly and the driver can get the preferred road feeling performance by tuning these parameters in the formula. Next, to obtain the desired road feeling characteristics for different drivers
Zheng, Hongyu, Zhou, Jian
Design of Automatic Parallel Parking System Based on Multi-Point Preview Theory2018-01-060404/03/2018
As one of advanced driver assistance systems (ADAS), automatic parking system has great market prospect and application value. In this paper, based on an intelligent vehicle platform, an automatic parking system is designed by using multi-point preview theory. The vehicle kinematics model was established, based on Ackermann steering principle. By analyzing working conditions of parallel parking, complex constraint condition of parking trajectory is established and reference trajectory based on sine wave is proposed. In addition, combined with multi-point preview theory, the design of trajectory following controller for automatic parking is completed. The cost function is designed, which consider the trajectory following effect and the degree of easy handling. The optimization of trajectory following control is completed by using the cost function. In order to validate automatic parallel parking algorithm proposed in this paper, the simulation based on DYNA4 and real vehicle test are
Shi, Jiangchao, Wu, Jian, Zhu, Bing, Li, Jing, Zhao, Yang, Deng, Weiwen, He, Rui
2021-12-29.TEST Development of Autonomous Driving System Using GNSS and High Definition Map2018-01-003604/03/2018
Recently, development of vehicle control system targeting Full Driving Automation (autonomous driving level 5) has advanced. Some applications of autonomous driving systems like the Lane Keeping Assist system (LKA) and Auto Lane Change system (ALC) (autonomous driving level 1-3) have been put on the market. However, the conventional system using information from front camera, it is difficult to operate in some situations. For example the road that no line, large curvature and number of lane increases or decreases. We propose an autonomous driving system using high accuracy vehicle position estimation technology and a high definition map. An LKA system calculates the target steering wheel angle based on both vehicle position information from the Global Navigation Satellite System (GNSS) and the target lane of high the definition map, according to the method of front gaze driver model. Then, the system controls steering the wheel angle by Electric Power Steering (EPS). In the case of ALC
Takeuchi, Yu, Hideyuki, Tanaka, Kazuo, Hitosugi, Tomoki, Uno
2021-12-29.TEST Safe and Secure Development: Challenges and Opportunities2018-01-002004/03/2018
The ever-increasing complexity and connectivity of driver assist functions pose challenges for both Functional Safety and Cyber Security. Several of these challenges arise not only due to the new functionalities themselves but due to numerous interdependencies between safety and security. Safety and security goals can conflict, safety mechanisms might be intentionally triggered by attackers to impact functionality negatively, or mechanisms can compete for limited resources like processing power or memory to name just some conflict potentials. But there is also the potential for synergies, both in the implementation as well as during the development. For example, both disciplines require mechanisms to check data integrity, are concerned with freedom from interference and require architecture based analyses. So far there is no consensus in the industry on how to best deal with these interdependencies in automotive development projects. SAE J3061 introduces a process framework for Cyber
von Wedel, Jana Karina, Arndt, Paul
Human Intervention Detection on a Steering Actuation System in Autonomous Vehicles2018-01-076704/03/2018
Human steering intervention is an important factor for the safety and control performance of autonomous vehicles. Accurate identification of human steering torque will enable human drivers to take over the controls from the autonomous driving system whenever they require or intend to. However, in the take-over process, both the human driver and actuator motor will apply active torques simultaneously on the steering wheel, thus the human torque cannot be detected by using a torque sensor due to the coupled torques. Therefore, effective estimation though the system dynamics can be an alternative measure to achieve the detection and a comparatively accurate quantification of the human steering intervention torque. In this paper, an online estimation strategy of human steering intervention torque for the steering actuation system of an autonomous vehicle is presented. The dynamic model of the steering actuation system is firstly established. The human steering torque estimation algorithm
Wang, Xin, Guo, Longxiang, Jia, Yunyi
Design, Development and Application of Test Bench for Electrically Controlled Steering Systems2018-01-070204/03/2018
This essay aims to develop an electrically controlled steering test bench and lay a solid foundation for the development of steering system. The first part mainly introduces the function, structure and working principle of the test bench. For the hardware system, it includes the steering system, fixture, sensors as well as a frameless disk motor for carrying out automatic motor input, and a dual linear motor system selected as the road resistance simulation actuator. As for the software, MATLAB/Simulink, CarSim, RTI and ControlDesk are used. Therefore, with the help of real-time simulation platform, researchers can not only build control strategy and dynamic model but also control the experiment and tune parameters in real-time. The second part of the essay aims to identify both electric and mechanical parameters of R-EPS system by carrying out tests on the proposed test bench. As parameters are successfully identified, the feasibility of the test bench is also verified. In the third
Wang, Junyang, Zheng, Hongyu, Zong, Changfu
Control of Steer by Wire System for Reference Steering Wheel Torque Tracking and Return-Ability2018-01-056604/03/2018
This paper proposes a torque tracking algorithm via steer by wire to achieve the target steering feel and proposed a modified friction model to obtain return-ability. A three dimensional reference steering wheel torque map is designed using the measurement data of the steering characteristics of the target vehicle at a transition test and a weave test. In order to track the reference steering wheel torque, a sliding mode control is used in the tracking algorithm. In addition, to achieve return-ability, the modified friction model for steer by wire is used instead of the friction model defined in the reference steering wheel torque map. The modified friction model is composed of various models according to the angular velocity. The angular velocity and the angular acceleration used in the control algorithm are estimated using a kalman filter. A motor is used as the actuators to generate the targeted steering feel and the torque angle sensor (TAS) is used to measure the steering wheel
Lee, Jaepoong, kyongsu, Yi, Kim, Kwangil, Lee, Byungrim, Lee, Dongpil, Jang, Bongchoon, Chang, Sehyun
Sliding Mode Predictive Tracking Control for Electric Vehicle Using Steer-By-Wire System2018-01-069704/03/2018
Recently, a lot of electric vehicle (EV) has been developed to improve the energy consumption problem and electric power steering system has attracted the researchers’ concern. Steer-by-Wire (SbW) system is an electric steering system where the mechanical link between the steering wheel and front wheels is eliminated. Due to the absence of direct mechanical linkage, the most challenging issue is to ensure that the front wheels closely follow the driver’s command. A sliding mode predictive controller (SMPC) for Steer-by-Wire systems (SbW) is proposed to achieve a proper tracking performance. The sliding mode predictive controller has two parts: sliding mode control (SMC) and model predictive control (MPC). The SMC is applied to improve the robustness of MPC in the presence of model uncertainties while the MPC is applied to enhance the tracking performance of SMC. The simulation results and experimental results demonstrate the effectiveness of the proposed controller in steering angle
Huang, Chao, Naghdy, Fazel, Du, Haiping
Modularized Simulation Tool to Evaluate Battery Solutions for 12 V Advanced Start Stop Vehicles2018-01-044604/03/2018
The 12 V advanced start stop systems can offer 5-8% fuel economy improvement over a conventional vehicle. Although the fuel economy is not as high as those of mild to full hybrids, its low implementation cost makes it an attractive electrification solutions for vehicles. As a result, the 12 V advanced start stop technology has been evolving fast in recent years. On one hand, battery suppliers are offering a variety of energy storage solutions such as stand-alone lead acid, stand-alone LFP/Graphite, dual batteries of lead acid parallel with NMC/LTO, LMO/LTO, NMC/Graphite, and capacitors, etc. For dual battery solutions, the architecture also varies from passive parallel connection to active switching. On the other hand, OEM are considering to leverage a lot more use out of traditional 12 V SLI (start, light, and ignition) for functions such as power steering, air conditioning, heater, etc. Depending on battery architecture and vehicle functioning design, the energy management strategy
Zhang, Zhenli, Jin, Zhihong, Watson, Thomas
Piecewise Affine-Based Shared Steering Torque Control Scheme for Cooperative Path-Tracking: A Game-Theoretic Approach2018-01-060604/03/2018
The new concept of “human-machine shared control” provides an amazing thinking to enhance driving safety, which has been attracted a great deal of research effort in recent years. However, little attention has been paid to the nonlinearity of the shared control system brought by the tire, which significantly influences the control performance under extreme driving conditions. This paper presents a novel shared steering torque control scheme to model the human-machine steering torque interaction near the vehicle’s handling limit, where both driver and driver assistance system (DAS) are exerting steering torque to maneuver the vehicle. A six-order driver-vehicle dynamic system is presented to elaborate the relationship between steering torque input and vehicle lateral motion response. Particularly, we use a piecewise affine (PWA) method to approximate the tire nonlinearity. Based on switched model predictive control (sMPC) method, the proposed hybrid PWA system is taken to model the
Yang, Kaiming, He, Xiangkun, Liu, Yulong, Ji, Xuewu, Chen, Di
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