Full Text:   <1991>

CLC number: U46; TP311

On-line Access: 

Received: 2008-03-11

Revision Accepted: 2008-08-26

Crosschecked: 2009-03-27

Cited: 1

Clicked: 3739

Citations:  Bibtex RefMan EndNote GB/T7714

-   Go to

Article info.
1. Reference List
Open peer comments

Journal of Zhejiang University SCIENCE A 2009 Vol.10 No.6 P.900~908


Investigations on control algorithm of steady-state cornering and control strategy for dynamical correction in a steer-by-wire system

Author(s):  Ying XU, Chang-fu ZONG, Hsiao-hsiang NA, Lei LIU

Affiliation(s):  Department of Computer Science and Technology, Jilin University, Changchun 130025, China; more

Corresponding email(s):   yxu_yang@126.com, liulei@jlu.edu.cn

Key Words:  Steer-by-wire (SBW), Steady-state cornering, Steering sensitivity, Dynamical correction

Ying XU, Chang-fu ZONG, Hsiao-hsiang NA, Lei LIU. Investigations on control algorithm of steady-state cornering and control strategy for dynamical correction in a steer-by-wire system[J]. Journal of Zhejiang University Science A, 2009, 10(6): 900~908.

@article{title="Investigations on control algorithm of steady-state cornering and control strategy for dynamical correction in a steer-by-wire system",
author="Ying XU, Chang-fu ZONG, Hsiao-hsiang NA, Lei LIU",
journal="Journal of Zhejiang University Science A",
publisher="Zhejiang University Press & Springer",

%0 Journal Article
%T Investigations on control algorithm of steady-state cornering and control strategy for dynamical correction in a steer-by-wire system
%A Ying XU
%A Chang-fu ZONG
%A Hsiao-hsiang NA
%A Lei LIU
%J Journal of Zhejiang University SCIENCE A
%V 10
%N 6
%P 900~908
%@ 1673-565X
%D 2009
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.A0820173

T1 - Investigations on control algorithm of steady-state cornering and control strategy for dynamical correction in a steer-by-wire system
A1 - Ying XU
A1 - Chang-fu ZONG
A1 - Hsiao-hsiang NA
A1 - Lei LIU
J0 - Journal of Zhejiang University Science A
VL - 10
IS - 6
SP - 900
EP - 908
%@ 1673-565X
Y1 - 2009
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/jzus.A0820173

To improve the handling performance of a steer-by-wire (SBW) vehicle, a series of control logics are proposed. Firstly, an algorithm for enhancing the maneuvering in steady-state cornering is presented. On this basis, two categories of control strategies are used to dynamically correct and compensate the transient state steering responses and vehicle behaviors. Simulator tests including subjective evaluations and virtual field tests are both conducted to make comprehensive investigations on the series of control logics. The subjective evaluations demonstrate that the SBW vehicle with a specifically selected value of steering sensitivity tends to be more desirable for driving than a conventional one in which a fixed steering ratio exists. The virtual field tests indicate that the control strategies for dynamical correction and compensation could effectively improve the handling performances of an SBW vehicle by reducing the work load of drivers, enhancing the track-holding performance, and improving steering response properties.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


[1] Abe, M., Chen, X.B., 1998. Motion Responses and Handling Dynamics of Automobile. China Machine Press, Beijing, p.212-214 (in Chinese).

[2] Cesiel, D., Gaunt, M.C., Daugherty, B., 2006. Development of a Steer-by-wire System for the GM Sequel. SAE Paper, 2006-01-1173.

[3] Chai, Y.W., Saitou, Y., Kano, Y., Abe, M., 2004. A Study on Effects of Derivative Parameters in a SBW System for Active Interface Vehicle on Driver-vehicle System Performance. Proc. AVEC, p.233-238.

[4] Ellis, J.R., 1993. Vehicle Handling Dynamics. Mechanical Engineering Publications Limited, London, p.55-62.

[5] Führer, T., Schedl, A., 1999. The Steer-by-wire Prototype Implementation: Realizing Time Triggered System Design, Fail Silence Behavior and Active Replication with Fault-tolerance Support. SAE Paper, 1999-01-0400.

[6] Gao, Z.H., Zheng, N.N., Cheng, H., 2004. Soft sensor of vehicle state based on vehicle dynamic and Kalman filter. J. Syst. Simul., 16(1):22-24 (in Chinese).

[7] Guan, H., Guo, K.H., Lin, B.Z., 2001. 29-DOF Vehicle Dynamic Model for Real-time Simulation. Technical Report, State Key Lab of Automobile Dynamic Simulation (in Chinese).

[8] Guo, K.H., Ren, L., 1999. A Unified Semi-empirical Tire Model with Higher Accuracy and Less Parameters. SAE Paper, 1999-01-0785.

[9] Guo, K.H., Guan, H., Zong, C.F., 1999. Development and Applications of JUT-ADSL Driving Simulator. Proc. IEEE Int. Vehicle Electronics Conf., 1:1-5.

[10] Harter, W., Pfeiffer, W., Dominke, P., Ruck, G., 2000. Future Electrical Steering System: Realizations with Safety Requirements. SAE Paper, 2000-01-0822.

[11] Hiraoka, T., Nishihara, O., Kumamoto, H., 2006. Steering Reactive Torque Control for Steeri-by-wire Vehicle. Proc. AVEC, p.1-6.

[12] Kaufmann, T., Millsap, S., Murray, B., Petrowski, J., 2001. Development Expierence with Steer-by-wire. SAE Paper, 2001-01-2479.

[13] Nakajima, T., Adachi, K., Ooike, M., Kanda, K., 1999. A Rear Wheel Steer Control System Using Model Following Control Method. Proc. JSAE, p.44-99.

[14] Segawa, M., Nishizaki, K., Nakano, S., 2000. A Study of Vehicle Stability Control by Steer-by-wire System. Proc. AVEC, p.1-7.

[15] Segawa, M., Kimura, S., Kada, T., Nakano, S., 2002. A Study of Reactive Torque Control for Steer-by-wire System. Proc. AVEC, p.1-5.

[16] Tajima, J., Yuhara, N., Takimoto, S., Kawai, T., Shimizu, Y., 1998. Research on Effect of Steering Characteristics on Control Performance of Driver-vehicle System from a Viewpoint of Steer-by-wire System Design. Proc. AVEC, p.1-7.

[17] Tajima, J., Yuhara, N., Sano, S., Takimoto, S., 1999. Effects of Steering System Characteristics on Control Performance from the Viewpoint of Steer-by-wire System Design. SAE Paper, 1999-01-0821.

[18] Takimoto, S., 1997. A Study of Driver’s Behavior in Turning a Curve. Proc. JSAE Spring Convention, No. 9732748.

[19] Verschuren, R.M.A.F., Duringhof, H.M., 2006. Design of a Steer-by-wire Prototype. SAE Paper, 2006-01-1497.

[20] Wenzel, T.A., Burnham, K.J., Blundell, M.V., Williams, R.A., 2006. Dual extended Kalman filter for vehicle state and parameter estimation. Veh. Syst. Dynam., 44(2):153-171.

[21] Yao, Y.X., 2006. Vehicle Steer-by-wire System Control. SAE Paper, 2006-01-1175.

[22] Yih, P., 2005. Steer-by-wire: Implications for Vehicle Handling and Safety. PhD Thesis, Department of Mechanical Engineering, Stanford University, California, USA.

[23] Zong, C.F., Guo, K.H., 2000. Objective evaluation index for handling and stability of vehicle. Nat. Sci. J. Jilin Univ. Technol., 30(1):1-6 (in Chinese).

Open peer comments: Debate/Discuss/Question/Opinion


Please provide your name, email address and a comment

Journal of Zhejiang University-SCIENCE, 38 Zheda Road, Hangzhou 310027, China
Tel: +86-571-87952783; E-mail: cjzhang@zju.edu.cn
Copyright © 2000 - Journal of Zhejiang University-SCIENCE