Browse Topic: Steering wheels

Items (351)

A Comprehensive Survey of Foot-Operated Steering Systems for Individuals with Upper Limb Disabilities: A Literature Review

2023-01-518702/23/2024

A significant portion of the global population about 13.6% of the world's population faces challenges due to upper limb disabilities caused by accidents, genetics, health issues or aging. These people struggle with everyday mobility tasks and often need help. Hence, the research is focused on creating special vehicle control systems to help them. This study gathers knowledge from various science and technology fields to develop foot-operated steering systems letting those with upper limb differences control vehicles with their feet. The research explores various technologies like modified steering, brain-controlled vehicles, foot-operated steering, steer-by-wire and Ackermann steering. Most of these systems are custom-made for people with upper limb differences. Ensuring safety, security, malfunction prevention, precise steering, user-friendliness and affordability is a significant challenge that demands advanced technology. Furthermore, there is a requirement to develop this system to

Soundararajan, R., Babu, N., Ashoka Vardhanan, P., Shijo Joseph, C.S.

Analysis and Annihilation of Grunt Noise in Hydraulic Power Assisted Steering Systems

2024-26-021801/16/2024

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

A UNIVERSAL STEERING GROMMET DESIGN APPROACH TO ENHANCE THE PASSENGER CABIN NVH PERFORMANCE

2024-26-020201/16/2024

As a car OEM, we continuously strive to set the bar for competitors with every product. Consumer travel experiences are enhanced by increasing passenger cabin silence. There is only one steering system opening in the firewall panel, which is used for allowing intermediate shaft's fitment on the pinion shaft of the steering gear. The steering grommet is the sole component that covers the firewall cut-out without disrupting steering operations, which has a substantial impact on the NVH performance of the vehicle. It is typically used in cars to eliminate engine noise and dust entering to passenger compartment. The part is assembled inside the vehicle where the steering intermediate shaft passing through BIW firewall panel. We use a bearing, plastic bush, or direct rubber interference design in the steering grommet to accommodate the rotational input the driver provides to turn the automobile. However, occasionally noise may be produced due to uneven bearing or plastic bush loading or a

J, Sadhish, Vijayarangan, Deepak

Impact of Toe and Thrust Angle Misalignment on Roll Behaviour of a Heavy Commercial Road Vehicle

2024-26-005601/16/2024

Heavy Commercial Road Vehicles (HCRVs) may be more susceptible to rollover incidents due to their higher centre of gravity position than passenger vehicles, and rollover is one of the significant causes of HCRV accidents. Therefore, variation in vehicle roll behaviour becomes crucial to the safety of an HCRV. Toe misalignment is a commonly observed phenomenon in HCRVs, and studying its impact on roll behaviour is important. In this work, the impact of the symmetric toe and thrust misalignment on the roll behaviour of an HCRV is analysed using IPG TruckMaker®, a vehicle dynamics simulation software. A ramp steer manoeuvre was used for the simulations, and the toe misalignment on a wheel was chosen from the range [−0.21°, 0.21°]. Variation in roll behaviour was quantified using the steering wheel angle at which one-wheel lift-off (OWL) occurred (SWA_L). Additionally, an analytical model was formulated to predict OWL and the model predictions were compared with the results from IPG

Chandran, Amarchand, Grandhe, Roshan, Mukhopadhyay, Arko, Sharma, Mitanshu, Shankar Ram, C S

EPS calibration in multiple modes including terrain mode for SUV to achieve precision steering feel and Handling enhancement.

2024-26-005501/16/2024

In automobiles, the SUV category of cars encounters almost all types of terrain, including Sand, Mud, Snow, Gravel, etc. Despite changes in terrain, today's customers want no deterioration in Ride, Handling, or steering performance feel, which poses challenges for automakers while calibrating the performance attributes of the vehicle. This technical paper would be focusing on extracting optimum steering performance over any terrain by providing versatile terrain specific EPAS logics through dedicated steering modes linked to the Terrain modes in addition to the Drive modes. Comfort, Normal & Sports are the usual Drive modes, wherein Comfort would have the maximum assist, Normal would have the optimum assist, and Sport would have a higher damping and weighted feel. Similarly, after a lot of subjective evaluations over different Terrains in India, suitable EPAS calibration modes are adapted. A BLAC motor has been selected for its precise control over assist torque and wider scope for

Gaikwad, Vivek, Shah, Samarth, Krishnan, Nandhakumar, K, Rajakumar

Auto lock of manual seat track adjustment in passenger vehicles

2024-26-000101/16/2024

Vehicle seats are provided with a facility to adjust the seat forward or rearward. Seating positions can be adjusted according to the comfort of the occupants. Seat track position plays an important role in airbag deployment during vehicle crash. A hand lever is used to manually adjust the seat track in some vehicles by pulling up the lever and releasing it after the appropriate seating position has been adjusted. All the safety manuals provided by OEMs warns about the adjustment of seat track position as forward or rearward during vehicle movement. It is high risk because of any rapid movements due to unexpected road conditions might result in driver losing control of the pedals and steering wheel and this may leads to severe injuries and even can cause fatalities. The proposed system in this paper is focused to provide more safety to the driver with a new method " Auto lock of manual seat track adjustment in passenger vehicles”. The proposed system shall be integrated with Body

Nalagatla, Karthik, S, Deepak Kumar, Jamadar, Tohidanjum

Design of a Robust Optimal Multivariable Control for a Steer-by-Wire System

2023-01-121806/26/2023

On the way to highly automated and autonomous driving, a robustly designed steering system is a key component. Therefore, the proposed article will present a new control approach for modern steer-by-wire systems. The novel approach consists of a true multivariable control for the driver´s steering torque and the rack position simultaneously using the requested torques of the downstream (SRU) and upstream (SFU) motor as control variables. Here, the plant model is a detailed model of a steer-by-wire system with nine degrees of freedom (see Fig.1). For the control design, an optimal reduced model is derived. The reduced plant model is linearized and augmented by linear models for the reference and disturbance environment of the steer-by-wire system and by a linearized model for the complete feeling generator computing the requested steering torque. The feeling generator consists of a rack force feedback, an active damping and an active steering wheel return. For this augmented model, a

Irmer, Marcus, Degen, René, Nüßgen, Alexander, Thomas PhD, Karin, Ruschitzka PhD, Margot, Henrichfreise PhD, Hermann

Model Based NVH Simulator for Virtual Development

2025-01-005905/05/2023

For mature virtual development, enlarging coverage of performances and driving conditions comparable with physical prototype is important. The subjective evaluation on various driving conditions to find abnormal or nonlinear phenomenon as well as objective evaluation becomes indispensable even in virtual development stage. From the previous research, the road noise had been successfully predicted and replayed from the synthesis of system models. In this study, model based NVH simulator dedicated to virtual development have been implemented. At first, in addition to road noise, motor noise was predicted from experimental models such as blocked force and transfer function of motor, mount and body according to various vehicle conditions such as speed and torque. Next, to convert driver’s inputs such as acceleration and brake pedal, mode selection button and steering wheel to vehicle condition, 1-D performance model was generated and calibrated. Finally, the audio and visual feedback

Park, Sangyoung, Dirickx, Tom, Kang, Yeon June, Nam, Jeong Min

Development of Steering Control Method for Steer-by-Wire System Requiring No Changes in Steering Wheel Hand Position

2022-01-106403/29/2022

Future steering systems must be compatible with automated driving systems, while also improving the flexibility of the cabin space. To address these needs, a steer-by-wire system with no mechanical linkages is being developed. This paper proposes a control method for a variable steering gear ratio and reaction force to achieve a natural steering feel in a steer-by-wire vehicle without requiring the driver to change hand position on the steering wheel. Moreover, taking advantage of the characteristics of a steer-by-wire system, this paper also demonstrates the effectiveness of a control method that transmits only the necessary road information to the driver.

Takashima, Toru, Kudo, Yoshio, Kodera, Takashi, Namikawa, Isao

Automobile Steering Wheel Perception Quality Innovation and Upgrade Model Construction

2022-01-040403/29/2022

The automotive interior is a complex system integrating multiple elements. The perceived quality and design of the automotive interior are the quality carrier. The automotive steering wheel is the automotive component that the driver has direct contact with for the longest time. The steering wheel is the automotive component of the main driving experience, and its perceived quality can have a direct and profound impact on people's subjective feeling and psychological experience. This paper collects the steering wheel size data of various models in the market and makes further calculation and design. The steering wheel is also a multi-element centralized carrier. Through the combination of the design elements of the steering wheel and the theory of ergonomics, it carries out the innovation of perceived quality, so as to meet the needs of human body and improve the driving comfort of drivers, The design includes steering wheel size, modeling design, multi-functional key size and position

Ji, Yun Xiao, Ding, Shousheng, Wang, Chu

Hierarchical Vehicle Stability Control Strategy Based on Unscented Kalman Filter Estimation

2022-01-034303/29/2022

High-speed vehicle is prone to instability under bad road conditions, causing many safety accidents such as tail-flicking and overturning. Stability control could assist vehicle to drive safely and stably by adjusting the additional yaw moment. However, most of the existing stability control strategies directly invoke the information of the sideslip angle of the centroid that is difficult to obtain on the vehicle, and carry out complex controller design, which deviates from the actual application. In order to achieve a complete set of stability control architecture oriented to practical applications, this paper designs a hierarchical vehicle stability control strategy based on differential braking and state estimation technology. Firstly, a model oriented to state estimation and controller design is built according to the vehicle's motion state; Secondly, the sideslip angle of the centroid is accurately estimated through the unscented Kalman filter algorithm; Subsequently, the sliding

Zhang, Jian, Jiang, Hongwei, Li, Linrun, Liu, Qiuzheng, Wang, Yu, Liu, Jinbo, Gao, Yuan, Chen, Zhicheng

Rollover and near-rollover kinematics during evasive steer maneuvers

2022-01-104203/29/2022

We present 6-degree-of-freedom (6DOF) kinematic data from two SUVs during evasive steer maneuvers that did and did not result in rollovers. The vehicles were instrumented with a GPS speed sensor, tri-axial accelerometers, tri-axial angular rate sensors, and a steering wheel angle sensor. Drone-based and land-based video cameras recorded all tests. Six degree of freedom position/orientation data were extracted from the video using match moving techniques with 3D constraints from laser scans of the test site and vehicles as described in our previous SAE paper (SAE 2020-01-0272). The initial speeds varied from 100 to 124 km/h and the steering input during the tests were similar. We examine the magnitude and timing of the vehicle pre-roll kinematics to identify differences between the roll and non-roll events. We also present the 6DOF kinematics of the rollovers themselves. This study provides valuable insight into factors that predict roll initiation during evasive steer maneuvers.

Young, Cole, King, David, Siegmund, Gunter

A Study on the Robust Crash Performance Structure of Continuous Fiber Thermoplastic Composite Cowl Crossbar

2022-01-105603/29/2022

Since the 1990s, an increasing amount of research has been done in the automotive industry, not only to improve vehicle production efficiency and performance but also for environmental preservation and enhanced recycling. For this reason, recently, keen interest has been focused on the reduction of fuel consumption through the development of eco-friendly and weight-effective vehicles. This is due in part to the strengthening of regulatory standards for fuel efficiency in each country. This study will focus on the high crash safety performance and the optimization of the IP module, in particular, the cowl crossbar, which in most vehicles, can account for more than 33% of the total weight. In fact, the cowl crossbar is the main part of the vehicle that must support the duct system, steering column module as well as the entire IP module. Therefore, it requires a high stiffness to meet the performance requirements for NVH, durability, and crash protection. For example, during a frontal

Kim, Heeseok, KIM, IL SANG, JAE HYUN, AN, IN SOO, HAN, CHOI, IKKEUN, Park, Sanghyeon

Self-Propelled Sweepers and Scrubbers Steering Requirements Single-Circuit Hydraulic Servo-Assisted Systems

J1790_202111 (Current)

11/09/2021

The SAE Standard applies to self-propelled, driver-operated sweepers and scrubbers as defined in SAE J2130-1 and SAE J2130-2.

MTC2, Sweeper, Cleaner, and Machinery

Bump steer and Brake steer optimization in steering linkages through TAGUCHI method DOE analysis

2021-26-007909/22/2021

Due to recent infrastructural development and emerging competitive automotive markets in India, there is seen a huge shift in customer’s demand and vehicle drivability pattern in commercial vehicle industry. Now apart from ensuring better vehicle durability and best in class tyre life and fuel mileage, a vehicle manufacturer also has to focus on other key attributes like driver’s safety and ride comfort. Thus, for ensuring enhanced drivability, key parameters for ensuring better vehicle handling includes optimization of bump steer and brake steer. Both bump steer and brake steer are vehicle’s undesirable phenomenon where a driver is forced to constantly make steering wheel correction in order to safely maneuver the vehicle in the desired path. Since both bump steer and brake steer are caused due to the interactions of several vehicle parameters such as – drop arm and steering arm hard point, suspension stiffness, suspension eye and shackle position, caster angle, draglink length etc

Chopra, Nitin, P, Mahadevan

Subjective and Objective Steering feel Evaluation of compact SUV electric power steering system using Hardware in the Loop Simulation

2021-26-008009/22/2021

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

Model-Based System Engineering Approach for Steering Feel Simulation for Passenger Vehicles

2021-26-040009/22/2021

The basic function of steering system is to control the direction of the vehicle. The driver applies effort on the steering wheel and receives feedback through the steering system as a result of tire to road interaction. This feedback consists of a haptic (force) feedback which is directly felt by the driver and it is termed as steering feel. Precise steering feel gives better driving experience and is decisive factor for customer to buy a vehicle as well as for OEMs in building brand image. Along with steering parameters, suspension and tire parameters also has significant impact on steering feel. In past, modelling of the steering system was done at component level or with simplified vehicle system. Such approaches had not given accurate results of steering feel metric and resulted in incorrect steering design parameter selection. In order to replicate actual vehicle characteristics, complex and detailed modelling of steering, tire and suspension subsystems is necessary. This study

Kulkarni, Parag Vijay, Dhiman, Vipin, Iqbal, Shoaib, Salunkhe, Swapnil

Development of the Active Sound Generation Technology using Motor Driven Power Steering System

2020-01-153606/03/2020

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

Measurement of the Biodynamic Response of the Hand-Arm System and Study of its Influence on the Vibrational Response of the Steering Wheel

2020-01-154806/03/2020

Driver’s hands modify the vibrational response of the steering wheel, so that car manufacturers are used to measure vibrations of the free steering wheel to ensure reproducibility. However, levels measured in this condition do not represent those perceived by the driver. The aim of this study is to predict the vibrational response of the hand-wheel coupled system from measurements of the non-held steering wheel, and of the mechanical impedance of the arm. The mechanical impedance of the hand-arm system is measured at three levels of vibration (0.5 2.5 and 5 m/s²) in two directions of excitation (along the arm and in the normal direction of the palm). The position of the arm and the hand grip are controlled to be as close as possible to a driving situation. For each condition, the mechanical impedance is calculated and compared to models of ISO 10068. The differences introduced between the response of the left and right hand are also investigated according to the preferred hand and

laroche, luc, Parizet, Etienne

Editorial

20AVEP05_0105/01/2020

Privately-owned vehicles were never so safe as they are today. Nor have they made so much sense. That thought hit me between the nostrils recently, as I sprayed a pungent disinfectant on the steering wheel of my family's B-segment runabout. Carefully wiping down the car's touch points with antibacterial cleaners has become a new pandemic ritual for us after returning home from food shopping and other essential missions. My little tribe generally keeps the interiors of our two vehicles tidy. Finding the occasional French fry buried in a seat track is, however, preferable to the dangerous microbes deposited every minute in the typical bus, train, or ride-share. The term “clean,” as understood by transit passengers, means a few spritzes by a custodial crew racing to meet uptime targets.

Brooke, Lindsay

Personalized Human-Machine Cooperative Lane-change Based on Recurrent Neural Network

2020-01-013104/14/2020

To reduce the interference and conflict of human-machine cooperative control and improve the friendliness and acceptability of intelligent vehicles, a personalized human-machine cooperative lane-change method was proposed. Firstly, a test platform with active steering in the loop was built based on MATLAB/Simulink and PreScan. The lane-change test condition for data collection were designed, and the lane-change behaviors data of five drivers with different personalities were collected. Then, a multi-layer recurrent neural network (RNN) was built based on Long Short-Term Memory (LSTM) to learn the lane-change behaviors of each driver and a personalized lane-change method was trained for each driver. In addition, the lane-change data from previous research that did not include these five drivers was used to retrain the RNN, and this RNN was used as the default lane-change method for comparison. The training results show that compared with the default method, the personalized method is

Zhu, Bing, Han, Jiayi, Zhao, Jian

Study of skid steering method for distributed-drive articulated heavy vehicle based on the co-simulation model

2020-01-076104/14/2020

Distributed-driver articulated steering vehicles (DASVs), the particular engineering equipment, have good maneuverability and tractability in poor road and narrow space conditions. They are always used in the mining, construction, forest, and agricultural industry. Its structure comprise front and rear frame connected by an articulation joint and two hydraulic struts. In the steering process, these two struts are driven by pump of hydraulic system, and the vehicle will turn following the control of steering wheel with the coupling effects of articulation joint and struts. But due to the high load of the DASVs, the influence of pressure of outlet chamber, and the compressible of the oil, it is easy to cause the high pressure level, the low energy efficiency, and poor stability in hydraulic steering process. This is not conducive to improving the security, economy, and stability of DASVs. Therefore, in order to solve these problems, this paper will make the DASVs as the objective vehicle

Xu, Tao, Ji, Xuewu, Fei, Cong, Liu, Yahui, Shen, Yanhua

A Study on the controllability of Vehicle Steer-by-Wire systems for Safety Architecture Development

2020-01-064604/14/2020

This paper describes the controllability investigation of vehicle Steer-by-Wire(SbW) system for the safety architecture development. In currently used electric steering systems failure, safe state will be the intended loss of assist(LOA) for preventing unintended self-steer or inappropriate vehicle lateral control and the related studies have been conducted so far. However, in a steer by wire system, there can be no mechanical coupling between the steering wheel and the steering mechanism. Consisting SbW system, Steering Feedback Actuator(SFA) and Road Wheel Actuator(RWA) shall be addressed different safe states separately. Even though the loss of assist occurs on SFA, RWA can be in the vehicle lateral control state by using the steering angle signal. The paper focuses on the controllability of the SFA failure. The methodological approach is composed of questionnaire jury ratings, driving behaviors and physiological measures. The results shows the possible options for the single fault

Koo, Taeyun, Hong, Seokil, Kim, Dohwan, Tae, Hyunchul, Kim, Jongkwan, Won, Jongchun, Bhae, Hong Yong

The Effect of An Acoustic Startling Warning On Take-Over Reaction Time And Trunk Kinematics for Drivers in Autonomous Driving Scenarios

2019-22-002203/31/2020

The Acoustic Startling Pre-stimulus (ASPS, i.e. a loud sound preceding a physical perturbation) was previously found to accelerate action execution in simple flexion exercises. Therefore in this study we examined if ASPS can accelerate take-over reaction times in restrained teen and adult drivers who were asked to reach for the steering wheel while experiencing sled lateral perturbations simulating a vehicle swerve. Results showed that adult drivers lift their hands toward the steering wheel faster with the ASPS versus without (161 ± 23 ms vs 216 ± 27 ms, p<0.003). However this effect was not found in teens or in trials where the drivers were engaged in a secondary task. Adults also showed reduced lateral trunk displacement out of the seat belt with the ASPS. The ASPS could represent a novel warning that reduces take over time and out-of-position movements in critical autonomous driving scenarios.

Graci, Valentina, Griffith, Madeline, Maheshwari, Jalaj, Akkem, Rahul, Austin, Meta, Seacrist, Thomas, Arbogast, Kristy B.

JLR tackles weight with structural electronics

20AUTP03_1003/01/2020

Ashutosh Tomar, electrical research technical manager at Jaguar Land Rover (JLR) said he has absolute confidence in the potential of structural electronics (SE) now being pioneered by the company. Dubbed LESA (Lightweight Electronics in Simplified Architecture), the technology is expected in upcoming JLR models, though its use in the next-generation Jaguar XJ to be launched in 2020 has not been confirmed. JLR is completing a successful R&D program into printed SE, initially to introduce curved dashboard screens. The company claims an industry first that has the potential to radically alter vehicle interiors, with other applications forthcoming. SE is not a new technology. Decades ago the aerospace industry was considering it as part of aircraft-surface morphing capability to adapt to varying flight conditions.

Birch, Stuart

A Real-Time Obstacle-Avoidance Trajectory Planner for On-Road Autonomous Vehicle

2020-01-501802/24/2020

A real-time obstacle-avoidance trajectory planner for on-road autonomous vehicle is proposed in this paper. A cubic B spline core is parametric to generate path with continuous curvature as well as taking the extreme curvature limited by steer system into account. By sampling the target sets via offsetting along the reference path, lots path sets are produced with same heading. As embedded with collision checker and path evaluator, a path selector could pick out the best one to planning speed profile for coupling trajectory to track. Finally, according to the change of path curvature, the speed profile scheduler addresses the conflict of curvature and deceleration. Referencing to the ISO3888-2:2011, a collision avoidance scenario was design to validate the planner. The test results of ten cycles test illustrate that the planner has high enough real-time performance as mean plan time less than 100ms with success rate about 100%.

Yishan, Li, Lu, Xiong, Dequan, Zeng, Puhang, Xu, Zhuoren, Li

Composite Steering Strategy for 4WS-4WD EV Based on Low-Speed Steering Maneuverability

2019-01-505211/04/2019

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

Autonomous Vehicle Engineering: November 2019

19AVEP1111/01/2019

Editorial Bill Visnic: Expect the unexpected The Navigator Sam Abuelsamid: Separating illusion from magic in AV deployment The Road to Automobility The era of electrified, self-driving vehicles is upon us. Engineers are key to the transformation - with much hard work still to be done. Far and Away: Remote Drivers Monitor Autonomous Vehicles Remote operators are helping autonomous shuttles and other AVs navigate through complex situations. Mapping Canada - Centimeter by Centimeter A Montreal-based company leverages artificial intelligence to take on the task of developing high-definition maps of Canada. You've Lost That Queasy Feeling… Transcontinental research aims to understand the complex nature of motion sickness to help improve the automated-vehicle experience. 3D Sonar Sees Objects Overlooked by Costlier Sensors A dream of robotic fish inspires inexpensive automated-driving sensing technology that works for the critical areas close to the vehicle. Familiarity Breeds Respect SAE

Design of a Novel Electro-Pneumatic Gear Shift System for a Sequential Gearbox

2019-28-001110/11/2019

This paper describes the design of a novel pneumatic gear shifting system to replace the existing gear stick manual shifting system for ease of the driver while shifting gears. The aim of this work is to have a semi-automatic shifting (pneumatic shifting) removing the need for the driver clutch operation. The system consists of a solenoid valve, CO2 gas-pressurized cylinder, double-acting cylinder, and single-acting cylinder. On basis of the signal received the gear needs to be changed, the shifter opens or closes a magnetic valve assembly. The solenoid valve allows the compressed air into the piston that comes from a pressurized cylinder, in order to create the effect of shifting gears. The pedal shifter and buttons are used to shift the gears. The pedal shifter was designed by using a 3-D printing technique using PLA material. The microcontroller used is ATMEGA-328 in this system. There are three switches, one for upshift, downshift, and clutch respectively. An algorithm has been

Jain, Jeevesh, Mittal, Vaibhav, Raghuraman, Dore Ranganath Srinivasa, Rathore, Shivam Singh, Vadodaria, Sumit Nilesh

German University Studying Assisted-Driving ‘Handoff’

19AVEP07_0807/01/2019

Germany's Kempten University Adrive Living Lab will feature latest aVDS driving simulator to research ADAS stress levels. Researchers at Germany's Kempten University of Applied Sciences plan to embark this year on autonomous vehicle (AV) and advanced driver-assist system (ADAS) programs that will include investigation of the safest ways to achieve handover of a vehicle when control is returned to a human driver. To do so, it is installing an AB Dynamics advanced Vehicle Driving Simulator (aVDS) that will help measure driver stress levels if the vehicle is not capable of performing a particular maneuver. The aVDS has been designed to provide high level R&D capabilities specifically for autonomous systems. The university has established its Adrive Living Lab with the third-generation simulator helping to facilitate the study of the driver's interaction with autonomous systems and their effect on drivers' perceived safety and comfort. The program has identified these two areas as the most

Birch, Stuart

Use of Cellphones as Alternative Driver Inputs in Passenger Vehicles

2019-01-123904/02/2019

Automotive drive-by-wire systems have enabled greater mobility options for individuals with physical disabilities. To further expand the driving paradigm, a need exists to consider an alternative vehicle steering mechanism to meet specific needs and constraints. In this study, a cellphone steering controller was investigated using a fixed-base driving simulator. The cellphone incorporated the direction control of the vehicle through roll motion, as well as the brake and throttle functionality through pitch motion, a design that can assist disabled drivers by excluding extensive arm and leg movements. Human test subjects evaluated the cellphone with conventional vehicle control strategy through a series of roadway maneuvers. Specifically, two distinctive driving situations were studied: a) obstacle avoidance test, and b) city road traveling test. A conventional steering wheel with self-centering force feedback tuning was used for all the driving events for comparison. Based on the lane

Wang, Chengshi, Alexander, Kim, Pidgeon, Philip, Wagner, John

Development of Hybrid Power Steering System for Commercial Vehicle

2019-01-141503/25/2019

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 Condition

2019-01-142203/25/2019

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 Performance

2019-01-501002/05/2019

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

Steering Control of the Off-Highway Vehicles

2019-26-010801/09/2019

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

Methodology to Determine Optimum Suspension Hard Points at an Early Design Stage for Achieving Steering Returnability in Any Vehicle

2019-26-007401/09/2019

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

Measurement of the loads applied to a steering system – Tie rod and steering column

2018-36-028009/03/2018

Currently in the automotive industry it is indispensable the evolution of technology applied in the design and manufacturing of components, either for a specific performance improvement or even as part of a cost reduction plan. For these main reasons, it has been constantly invested in methods that may help engineers to understand the dynamic efforts to which the components are submitted. In order to determine the loads suffered by the steering system of a vehicle in motion, the Group of Automotive Technology from the Lutheran University of Brazil (also known as “GTA”) conducted tests using a front-wheel drive road vehicle with a 1.4L transverse engine. The steering column (which joins the steering wheel to the steering gearbox ) and the tie rod (which connects the steering rack to the steering knuckle) were used as elastic elements to form load cells by the attachment of resistive strain gages in a full Wheatstone bridge. The steering column was used to measure the applied torque and

Gertz, L. C., Rodrigues, A. F. A., Cervieri, A., Ferri, S. D., Heidemann Jr, R., Theis, J.

Research on Variable Steering Ratio Control Strategy of Steer-by-Wire System

2018-01-158308/07/2018

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 Control

2018-01-159308/07/2018

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

Switching to comfort mode

18TOFHP08_0808/01/2018

Switches, knobs and touch panels evolve to reduce operator fatigue. Programmability has become a central design element for engineers tasked with making work environments more comfortable for commercial-vehicle operators. Touchscreens continue to handle more functions, while switches, knobs and joysticks are all becoming more versatile as embedded electronics turn them into multi-function controls. There's a shortage of drivers in trucking and operators in off-highway, prompting a major focus on making sure that workers in both fields stay on the job. A range of control technologies play a major role in the effort to improve comfort for those who spend long hours working in cabs.

Costlow, Terry

Optimization Control for 4WIS Electric Vehicle Based on the Coincidence Degree of Wheel Steering Centers

10-02-03-001107/24/2018

The steering centers of four wheels for passenger car do not coincide, which may result in tire wear and the unharmoniously movement of the vehicle. In this article, an optimization control method for Four Wheel Independent Steering (4WIS) electric vehicle based on the coincidence degree of steering centers is proposed, to improve the driving performance. The nonlinear vehicle model of the four-wheel independent steering vehicle is established, and the formula of the wheel steering center is derived. The coincidence degree of wheel steering centers is defined as the evaluation index, to describe and evaluate the performance of the coordination for wheels’ movement. Meanwhile, the structure design of 4WIS system and the establishment of Direct-Current (DC) steering motor model are carried out, and the Model Predictive Control (MPC) controller for steering actuator is designed. The coincidence degree and related performance index for 4WIS vehicle steering system are performed as the

Zheng, Hongyu, Yang, Shuo

Design of Adjustable Road Feeling Performance for Steering-by-Wire System

10-02-02-000806/18/2018

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

Control of Steer by Wire System for Reference Steering Wheel Torque Tracking and Return-Ability

2018-01-056604/03/2018

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

Steering Column Slip Endurance Test & Rig Development

2018-01-012504/03/2018

In the emerging commercial vehicle sector, it is very essential to give a product to customer, which is very reliable and less prone to the failures to make the product successful in the market. In order to make it possible, the product is to be validated to replicate the exact field conditions, where it is going to be operated. Lab testing plays a vital role in reproducing the field conditions in order to reduce the lead time in overall product life cycle development process. This paper deals with the design and fabrication of the steering column slip endurance test rig. This rig is capable of generating wear on the steering column splines coating which predominantly leads to failure of steering column. The data acquired from Proving Ground (PG) was analyzed and block cycles were generated with help of data analyzing tools. Those block cycles were run with the help of this rig it consists of Variable Frequency Drive (VFD) to change the velocity of steering column, and torque applied

G, Manthiramoorthy, Rajendran, Manoj Kumar, Siva Kumar, Natarajan, Subramanian, Deepak Anand, V, Srinivasa Chandra

Sliding Mode Predictive Tracking Control for Electric Vehicle Using Steer-By-Wire System

2018-01-069704/03/2018

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

Design, Development and Application of Test Bench for Electrically Controlled Steering Systems

2018-01-070204/03/2018

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

Research of Steering Grasping to Take over Driver from System

2018-01-106804/03/2018

Lane departure prevention systems are able to detect imminent departure from the road, allowing the driver to apply control to prevent lane departure. These systems possess enormous potential to reduce the number of accidents resulting from road departure, but their effectiveness is highly reliant on their level of acceptance by drivers. The effectiveness of the systems will depend on when they are providing driving assistance, what level of laxness in terms of maintaining contact with the steering wheel is allowed on the part of the driver, and what level of assistance the system provides. This paper will discuss research on the minimum necessary contact and contact strength with the steering wheel on the part of the driver when a lane departure prevention system is in operation. Using a six-axis driving simulator employing an actual vehicle, the research conducted tests involving 22 test subjects, and studied the relationship between the status of the driver’s contact with the

Odate, Shotaro, Fujimaki, Takeshi, Sakamoto, Naohiro

Comparison of Active Front Wheel Steering and Differential Braking for Yaw/Roll Stability Enhancement of a Coach

2018-01-082004/03/2018

Both active front wheel steering (AFS) and differential braking control (DBC) can improve the vehicle handling and stability. In this article, an AFS strategy and a DBC strategy are proposed and compared. The strategies are as follows: A yaw instability judging module and a rollover instability judging module are put forward to determine whether the coach is in a linear state and whether the additional torque/angle module should be actuated. The additional torque module based on linear quadratic regulator (LQR) and the additional steering wheel angle module based on adaptive proportion integral differential (PID) fuzzy controller are designed to make the actual yaw rate and sideslip angle track the reference yaw rate and sideslip angle. Under some typical driving conditions such as sinusoidal, J-turning, crosswind, and straight-line brake maneuver on the μ-split road, simulation tests are carried out for the coach with no control, DBC strategy, and AFS control, respectively. The

Zheng, Hongyu, yangyang, miao, Wang, Linlin, Zhang, Jiaxu

Cadillac plugs in CT6 for high-value efficiency

17AUTP10_1510/01/2017

The badge on the decklid reads ‘2.0E’, with no giveaway that the 2018 Cadillac CT6 we're driving is a plug-in hybrid. Perhaps a more appropriate nameplate should be CT6 NEV, because this impressively engaging and efficient luxury sedan is mostly aimed at China's burgeoning New Energy Vehicle market. In fact, the plug-in version is assembled only in Shanghai and is exported to the U.S. Initial stateside volumes will be only 1000 units/year. It would not be surprising to find more American customers who see the CT6 plug-in's almost ideal balance of EV range (31 mi in optimal thermal conditions), EV top speed (78 mph); acceleration (0 to 60 mph in 5.2 s); EPA rated efficiency (62 mpg-e); total range (442 mi), top speed (150 mph) and retail price ($75,095) as adding up to a compelling value proposition.

Brooke, Lindsay

Path-Tracking Controller Design for a 4WIS and 4WID Electric Vehicle with Steer-by-Wire System

2017-01-195409/23/2017

Path tracking is the rudimentary capability and primary task for autonomous ground vehicles (AGVs). In this paper, a novel four-wheel-independent-steering (4WIS) and four-wheel-independent-drive (4WID) electric vehicle (EV) is proposed which is equipped with steer-by-wire (SBW) system. For path-tracking controller design, the nonlinear vehicle model with 2 degrees of freedom (DOF) is built utilizing the nonlinear Dugoff tire model. The nonlinear dynamic model of SBW system is conducted as well considering the external disturbances. As to the path-tracking controller design, an integrated four-wheel steering (4WS) and direct yaw-moment control (DYC) system is designed based on the model predictive control (MPC) algorithm to track the target path described by desired yaw angle and lateral displacement. Then, the fast terminal sliding mode controller (FTSMC) is proposed for the SBW system to suppress disturbances. The control allocation algorithm of DYC is realized by weighted least

Hang, Peng, Chen, Xinbo, Luo, Fengmei

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