Steering reactive torque control for active four-wheel steering vehicle - Steering reactive torque presentation based on a lateral acceleration at a center of percussion

摘要

This paper proposes a method to provide steering reactive torque for active four-wheel steering vehicle. The reactive torque is derived from pseudo self-aligning torque which is denned by feedback of a lateral acceleration data at a center of percussion with respect to rear wheels. When the vehicle runs on a low friction road, driver can understand the slippery road condition because the reactive torque reduces. Driving simulator experiments verify the effectiveness of the proposed method.