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The conventional rear tandem axle of a three-axle vehicle produces a yaw resisting moment that adversely impacts vehicle performance. This work examines the effect of steering the rear axle on tire wear. Using actual vehicle test data, a tire wear model is developed. This tire wear model is then used to predict tire wear savings over an actual commercial vehicle duty cycle when the rear axle is steered. The result of this projection is shown to be consistent with reported third party field experience.

This paper reviews activities relating to understanding, and improving the on-center performance of heavy truck steering systems. Initially, the on-center steering performance characteristics for commercial vehicles were quantified. Steering wheel torque and angular position were the prime measurables. Graphical analyses of the on-center handling data were performed. To better understand the data, and to insure statistical significance, an algebraic model of the analyzed data was developed, with confidence intervals determined. The calculated system stiffness, as determined from the steering wheel data, was found to be a key discriminator between steering gears. System stiffness is a function of several component values, which were measured in the laboratory. Finally, to test the above findings, a correlation study of subjective driver impressions with measured steering gear characteristics and objective vehicle measures was performed.

The effect of an artificial feel steering device providing a synthetic torque feedback to the driver is studied for a transit bus operating in an urban drive cycle. Driver workload is greatly reduced and the results are shown to be statistically valid for a wide range of transit bus routes.

A novel speed and position dependent Lane Keeping Assistance (LKA) control strategy for heavy vehicles is proposed. This LKA system can be implemented with any torque overlay system capable of accepting external position or torque commands. The proposed algorithm tackles the problem of lane keeping in two ways from a heavy vehicle's perspective. First, it stabilizes the vehicle's lateral position by bringing it to the center of the lane and giving it the correct heading to stay there. This is done using a speed and position dependent control strategy that becomes less aggressive as the vehicle's speed increases and as it gets closer to the center of the lane. Such speed and position dependency is especially critical in heavy vehicles where unnecessary aggressive control can lead to oscillations about the lane's centerline when cruising at high speeds.

Self-steered or caster steered axles are commonly used to support load on multi-axle commercial vehicles. Such axles can allow more payload to be hauled in some vehicle configurations under the existing bridge formulas. These self-steered axles cannot generate a side load, and serve to unload surrounding fixed axles that do generate lateral forces to turn the vehicle with payload. Since the tire's ability to generate a side load is dependent upon its load, the use of caster-steered auxiliary axles can upset the balance (or the understeering) properties of the vehicle. This work will define the effect of adding a caster steered auxiliary axle and compare it with a steerable axle that positively controls the steer angle and thereby generates a lateral force. This work assumes the reader has a basic knowledge of the well publicized “bicycle” model, and particularly its extension to multi-axle vehicles.

This paper is concerned with the energy saving analysis for the closed center gear steering system and its design and performance. After reviewing the recent efforts in developing steering system with high energetic efficiency, the new system using closed center steering gear is proposed to reduce power consumption while keeping the conventional steering feel. The mathematical model of the closed-center for steering gear is derived and its stability and performance are analyzed. If the steering feel introduced by the closed center valve is not satisfying, an impedance controlled haptic device (TRW developed, named Column Drive) may be used. The advantage of this system's energy saving will be evaluated for different duty cycles.

With the expectation that means of redundant steering will be necessary for highly autonomous vehicles, different methods of providing redundant steering can be considered. One potential for redundancy is to steer the rear axle for directional control of the vehicle in the event of a failure in the primary steered front axle. This paper will characterize the dynamics of directional control of a three-axle vehicle when steered at the rear, and compare it to a conventionally steered three-axle vehicle. Several compensators are suggested that allow similar vehicle dynamic behavior when steering the rear axle as a driver would expect when steering the front, giving hope that a steerable rear axle can provide acceptable redundancy for a failed primary steering system on the front axle.