| PERSONALIZED STEERING FEEL DESIGN FOR STEER-BY-WIRE
SYSTEMS BASED ON THE RACK FORCE ESTIMATION |
| Chengrui Su , Huanghe Li , Bangjun Qiao , Xiaodong Wu |
| School of Mechanical Engineering, Shanghai Jiao Tong University |
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| ABSTRACT |
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This paper proposes a personalized steering feel model for the steer-by-wire vehicles to reconstruct the haptic
feedback during steering motion. Through the investigation of the steering mechanism, the aligning torque obtained via the
rack force estimated by the extended disturbance observer and the equivalent friction torque modelled using a hyperbolic
tangent function constitute the steering feel model. Also, different mathematical functions are designed to achieve the
characteristics of the power assist and the steering feel varying with vehicle speeds. The variable parameters are introduced to
design the personalized steering feel and the objective evaluation is employed to evaluate the performance of the proposed
model. The hardware-in-the-loop experiment results demonstrate that the designed extended disturbance observer has good
rack force estimation performance. Compared with conventional electric power steering systems, the proposed model achieves
the same haptic feedback and has the assist effect and the characteristics of steering feel that changes with speed. Furthermore,
the personalized steering feel is realized by adjusting the variable parameters of the steering feel model according to different
drivers’ preferences. |
| Key Words:
Steer-by-wire, Steering feel, Rack force estimation, Disturbance observer, Objective evaluation |
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Corresponding Author.
Xiaodong Wu , Email. 
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