Rear-Wheel Steering Control for Enhanced Maneuverability of Vehicles 2019-01-1238

This paper proposes a rear-wheel steering control method that can modify and improve the vehicle lateral response without tire model and parameter. The proposed control algorithm is a combination of steady-state and transient control. The steady state control input is designed to modify steady-state yaw rate response of the vehicle, i.e. understeer gradient of the vehicle. The transient control input is a feedback control to improve the transient response when the vehicle lateral behavior builds up. The control algorithm has been investigated via computer simulations. Compared to classical control methods, the proposed algorithm shows good vehicle lateral response such as small overshoot and fast response. Specifically, the proposed algorithm can alleviate stair-shaped response of the lateral acceleration. In addition, through tests with low friction road and high lateral acceleration, the proposed algorithm’s performance is verified to be robust for a variety of road friction and nonlinear tire characteristics, since tire information is excluded.