The relationship between vehicle yaw acceleration response and steering velocity for steering control

摘要

This paper proposes a novel concept for the modelling of a vehicle steering driver model for path following. The proposed steering driver reformulates and applies the Magic Formula, used for tyre lateral force vs. slip angle modelling as a function of vertical force, to the vehicle's yaw acceleration vs. steering velocity response as a function of vehicle speed. The path-following driver model was developed for use in gradient-based mathematical optimisation of vehicle suspension characteristics for handling. Successful application of gradient-based optimisation depends on the availability of good gradient information. This requires a robust driver model that can ensure completion of the required handling manoeuvre, even when the vehicle handling is poor. The steering driver is applied to a nonlinear full vehicle model of a sports utility vehicle, performing a severe double lane change manoeuvre. Simulation results show excellent correlation with test results. The proposed driver model is robust and well suited to gradient-based optimisation of vehicle handling.