An HMI Study on Bilateral Control System of Steer-By-Wire Vehicle

Abstract

For steer by wire system, it is possible to design a reaction torque controller to assist driver's steering operation. This paper investigates the characteristics of the reaction torque control based on the feedback from the steering wheel angle, the steering force and the vehicle behavior, respectively. Two phases are considered for an actual vehicle test: 1) the driver-made phase to enter into a turn, and 2) the vehicle-made phase to exit the turn. Four basic guidelines are defined to evaluate the reaction control policies. No single policy can satisfy all the guidelines and the necessity of a mixed policy is clarified.