Optimization of Parameters in the Hysteresis-based Steering Feel Model for Steer-by-Wire Systems*

:In rubber-wheeled vehicles, mechanical connection between steering wheel and front wheels provides steering related feedback to the driver. The torque fed back to the driver through the steering linkages and steering wheel, which is called steering feel, helps the driver in controlling the vehicle. The torque feedback is reproduced via artificial methods in steer-by-wire systems due to the lack of mechanical connection. Different approaches have been reported to describe the steering feel for steer-by-wire systems. A recent study reports a steering feel design based on Bouc-Wen hysteresis model. This model describes the steering feel through five constant coefficients, longitudinal velocity and steering wheel angle. In this work, in order to minimize the physical workload and the lateral acceleration under the consideration of handling performance, optimization of those five parameters has been studied. A 2-DOF bicycle model based on Magic tyre formula has been used for simulations. The effect of each parameter on steering feel has been identified for the optimization study. A driver model with a controller has been designed to perform comparable and repeatable tests. Weave and double lane change tests have been performed in order to demonstrate and quantify the optimization of the hysteresis model.