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The Virtual Wheel Concept for Supportive Steering Feedback During Active Steering Interventions

[+] Author Affiliations
Avinash Balachandran, Stephen M. Erlien, J. Christian Gerdes

Stanford University, Stanford, CA

Paper No. DSCC2014-6301, pp. V002T27A005; 10 pages
  • ASME 2014 Dynamic Systems and Control Conference
  • Volume 2: Dynamic Modeling and Diagnostics in Biomedical Systems; Dynamics and Control of Wind Energy Systems; Vehicle Energy Management Optimization; Energy Storage, Optimization; Transportation and Grid Applications; Estimation and Identification Methods, Tracking, Detection, Alternative Propulsion Systems; Ground and Space Vehicle Dynamics; Intelligent Transportation Systems and Control; Energy Harvesting; Modeling and Control for Thermo-Fluid Applications, IC Engines, Manufacturing
  • San Antonio, Texas, USA, October 22–24, 2014
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4619-3
  • Copyright © 2014 by ASME


Active steering systems allow for improved vehicle safety and stability through steering interventions that augment a driver’s steering command. In a conventional steering system, steering feedback torque depends on the tire forces and corresponding moments that act on the roadwheels. During active steering interventions, there are differences between the driver’s command and the actual roadwheel angle. The steering feedback can now be based on either the moments acting on the actual roadwheels or the moments acting on a virtual wheel following the driver’s intended steering command. With small interventions, the difference between these two approaches is negligible. However, when the intervention is large (e.g. obstacle avoidance maneuvers), basing handwheel moments on the actual roadwheel position results in a handwheel torque that acts in opposition to the intervention. The virtual wheel concept produces a more supportive, and potentially more intuitive, handwheel torque. This reduces the discrepancy between the driver command and the active steering system in simulation and experiments.

Copyright © 2014 by ASME
Topics: Feedback , Wheels



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