An approach to develop haptic feedback control reference for steering systems using open-loop driving manoeuvres

Journal Article (2019)
Author(s)

T. Chugh (Volvo Cars, Chalmers University of Technology)

F. Bruzelius (Chalmers University of Technology, Swedish National Road and Transport Research Institute)

M. Klomp (Chalmers University of Technology, Volvo Cars)

Barys Shyrokau (TU Delft - Intelligent Vehicles)

Research Group
Intelligent Vehicles
Copyright
© 2019 T. Chugh, F. Bruzelius, M. Klomp, B. Shyrokau
DOI related publication
https://doi.org/10.1080/00423114.2019.1662923
More Info
expand_more
Publication Year
2019
Language
English
Copyright
© 2019 T. Chugh, F. Bruzelius, M. Klomp, B. Shyrokau
Research Group
Intelligent Vehicles
Issue number
12
Volume number
58 (2020)
Pages (from-to)
1953-1976
Reuse Rights

Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.

Abstract

In this paper, a methodology to capture the model-based haptic feedback control reference for closed-loop steering systems is demonstrated. The parameterisation is based on the measurements of open-loop driving manoeuvres for the inertia-spring-damper-friction reference model. The steady-state and transient manoeuvres are used to identify the model parameters. The reference model is limited to the haptic feedback of driver excitation in the linear vehicle handling range and intended to be used in closed-loop steering control strategies. The model parameters have an intuitive interpretation that allows to be used in both admittance and impedance control setting. The feasibility of the proposed model is demonstrated in a validated simulation environment for electric power assisted steering and on a real hardware for the steer-by-wire force-feedback case.