Tao, W., Gao, B., Chu, H., Tian, M. et al., "Studies on Steering Feeling Feedback System Based on Nonlinear Vehicle Model," SAE Technical Paper 2017-01-1494, 2017, doi:10.4271/2017-01-1494.
The steer-by-wire system has been widely studied due to many advantages such as good controllability. In the system, the steering column is cancelled and the driver can't feel the feedback torque (also called steering feeling) coming from the ground. Therefore a steering feeling feedback system is needed. In this paper, we propose a simple method to calculate desired feedback torque based on a nonlinear 2DOF vehicle model. The vehicle model contains the nonlinearity of tire. So that the proposed method is also appropriate for big acceleration conditions. Besides that, the properties of steering system such as friction and stiffness are also taken into consideration. As for conventional steering system, driver can only feel part of the feedback torque due to the power assist system. In order to provide steering feeling similar to conventional steering system, a weighting function is proposed to compensate the influence of power assist system. At the last part of this paper, real vehicle experiments are conducted to validate the proposed method. In comparison with the test data, the steering feeling feedback algorithm can calculate desired feedback torque precisely.