A New Reference Model for Steer-By-Wire Applications with Embedded Vehicle Dynamics

Julien Coudon (1, 2) , Xavier Claeys (1, 2) , Carlos Canudas de Wit (1)

1 LAG - Laboratoire d'automatique de Grenoble
2 Technocentre Renault [Guyancourt]

We propose a new a reference model for Steerby- Wire applications. The model accounts for force reflection and vehicle dynamics interaction. In particular, a Bicycle model including the front axle kinematic and lateral contact forces, are explicitly accounted during the model tuning. The model is completed with a virtual feedback force, designed from an optimal feedback control loop, that aims at imposing a particular steering behavior improving the vehicle handling characteristics. This results in a model that is (vehicle) velocity dependent with good stability properties. The model keeps such good properties even in presence of unmodelled tire-road dynamics, and under certain parameter variation.

Mots clés: vehicle control; Steer-by-Wire systems; vehicle control.

Domaines: Automatique / Robotique

Julien Coudon, Xavier Claeys, Carlos Canudas de Wit. A New Reference Model for Steer-By-Wire Applications with Embedded Vehicle Dynamics. American Control Conference, IEEE ACC'06, Jun 2006, Seattle, United States. pp.s/n. ⟨hal-00395009⟩