Active Steering Control Based on the Estimated Tire Forces

[+] Author and Article Information
Kunsoo Huh, Joonyoung Kim

School of Mechanical Engineering, Hanyang University, Sungdong-ku, Hangdang-dong 17th, Seoul, Korea 133-791

J. Dyn. Sys., Meas., Control 123(3), 505-511 (Apr 06, 1999) (7 pages) doi:10.1115/1.1387246 History: Received April 06, 1999
Copyright © 2001 by ASME
Your Session has timed out. Please sign back in to continue.


Abe, M., 1989, “Handling Characteristics of Four Wheel Active Steering Vehicles over Full Maneuvering Range of Lateral and Longitudinal Accelerations,” Proceedings of 11th IAVSD Symposium, Vehicle System Dynamics, Vol. 18, pp. 1–14.
Xia, X., and Law, E. H., 1992, “Nonlinear Analysis of Close-Loop Driver/Automobile Performance with Four Wheel Steering Control,” SAE, No. 92055.
Metz, L. D., 1993, “Dynamics of Four-Wheel-Steer Off-Highway Vehicles,” SAE, 930765.
Nalecz,  A. G., and Bindermann,  A. C., 1988, “Investigation into the stability of four wheel steering vehicles,” Int. J. Veh. Des., 9, No. 2, pp. 159–178.
Amano, Y., Kubota, Y., and Sato, K., 1998, “Development of Steering Assist system (STAR) for the lane Departure Warning,” 5th World Congress on Intelligent Transport System.
Isomoto, K., Niibe, T., Suetomi, T., and Butsuen, T., 1995, “Development of a Lane-Keeping System for Lane Departure Avoidance,” 2nd World Congress on Intelligent Transport System, pp. 1266–1271.
LeBlanc,  D. J., Johnson,  G. E., Venhovens,  P. J. Th., Gerber,  G., Erven,  R. R. D., Lin,  C. F., Ulsoy,  A. G., and Pilutti,  T. E., 1996, “A road-departure prevention system,” IEEE Control Syst. Mag., 17, No. 16, pp. 61–71.
Pilutti, T., and Ulsoy, A. G., 1998, “Decision Making for Road Departure Warning Systems,” Proc. ACC, pp. 1843–1847.
Lin, C. F., Ulsoy, A. G., and LeBlanc, D. J., 1995, “Lane Geometry Reconstruction: Least Square Curve Fit Versus Kalman Filter,” ASME Proc Advanced Automotive Technologies, Vol. 56, pp. 63–70.
Hessburg, T., Peng, H., Tomizuka, M., Zhang, W. B., and Kamei, E., 1991, “An experimental study on lateral control of a vehicle,” Proc. ACC, pp. 3084–3089.
Furukawa, Y., and Abe, M., 1998, “Direct Yaw Moment Control with Estimating Side-slip Angle by Using On-Board-Tire-Model,” Proceedings of 4th International Symposium on Advanced Vehicle Control, SAE, No. 9837030.
Ray,  L. R., 1997, “Nonlinear Tire Force Estimation and Road Friction Identification, Simulation and Experiments,” Automatica, 33, No. 10, pp. 1819–1833.
Grewal, M. S., and Andrews, A. P., 1993, Kalman Filtering, Prentice Hall, NJ.
Huh,  K., and Stein,  J. L., 1995, “Well-conditioned Observer Design for Observer-based Monitoring Systems,” ASME J. Dyn. Syst., Meas., Control, 117, No. 4, pp. 592–599.
Bakker, E., Pacejka, H. B., and Lidner, L., 1994, “A New Tire Model with an Application in Vehicle Dynamics Studies,” SAE 890087, pp. 83–95.
Ervin,  R. D., Johnson,  G., Venhovens,  P., Macdam,  C. C., Ulsoy,  A. G., Leblanc,  D. J., Lin,  C-F., Peng,  H., Liu,  C-S., Gerber,  G., DeSonia,  R., and Pilutti,  T. E., 1995, “The Crewman’s Associate for Path Control (CAPC),” Final Report for TACOM Contract DAAE07-93-C-R124, UMTRI.
Lin, C. T., and Lee, C. S. G., 1996, Neural Fuzzy Systems, Prentice Hall, NJ.
van Zanten, A. T., Erhardt, R., Pfaff, G., Kost, F., Hartmann, U., and Ehret, T., 1996, “Control Aspects of the BOSCH-VDC,” Proc. of AVEC 96, Aachen, pp. 573–607.
Koibuchi, K., Yamamoto, M., Fukada, Y., and Inagaki, S., 1996, “Vehicle Stability Control in Limit Cornering by Active Brake,” SAE paper #960487, pp. 555–565.
Langari, G., and Tomizuka, M., 1990, “Stability of Fuzzy Linguistic Control Systems,” Proc. CDC, pp. 2185–2190.
Buckley,  J. J., 1996, “Stability and the Fuzzy controller,” Fuzzy Sets Syst., 77, pp. 167–173.
Thathachar,  M. A. L., and Viswanath,  P., 1997, “On the Stability of Fuzzy Systems,” IEEE Trans. Fuzzy Syst., 5, No. 1, pp. 145–151.
Arslan, G., and Lee, K. Y., 1997, “Stability Analysis of a Fuzzy Logic Controller,” Proc. ACC, pp. 3301–3305.
Kolodziej,  C., and Priemer,  R., 1999, “Stability Analysis of Fuzzy Systems,” J. Franklin Inst., 336, pp. 851–873.
Smith,  D. E., and Starkey,  J. M., 1995, “Effects of Model Complexity on the Performance of Automated Vehicle Steering Controllers: Model Development, Validation and Comparison,” Veh. Syst. Dyn., 24, pp. 163–181.


Grahic Jump Location
Vehicle coordinate system
Grahic Jump Location
Ratio of the averaged lateral force derivative to roll rate
Grahic Jump Location
Inner-front lateral force estimation
Grahic Jump Location
Outer-front lateral force estimation
Grahic Jump Location
Inner-front reference tire force
Grahic Jump Location
Outer-front reference tire force
Grahic Jump Location
Block diagram of the proposed active steering control system
Grahic Jump Location
Controllable (stable) bound for the lateral force error
Grahic Jump Location
The steering HILS simulator
Grahic Jump Location
The animation view from the steering simulator
Grahic Jump Location
Tire force on slippery road without the controller
Grahic Jump Location
Driver’s steering angle command
Grahic Jump Location
Extra angle from the controller
Grahic Jump Location
Tire force on slippery road with the controller
Grahic Jump Location
Relation between steering angle and yaw rate
Grahic Jump Location
Driver’s steering angle command (sinusoidal road)
Grahic Jump Location
Extra angle from the controller (sinusoidal road)
Grahic Jump Location
Relation between steering angle and yaw rate (sinusoidal road)
Grahic Jump Location
Relation between steering angle and side-slip angle (sinusoidal road)




Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In