The authors have developed a Steer by Wire (SBW) system that has no mechanical linkage between a steering wheel and steering gear. SBW is suitable for active steering control because its steering actuator and reactive actuator providing reactive force to the steering wheel are electrically and independently controlled. A previously proposed type of control for vehicle stability with SBW active steering control not only stabilised vehicle dynamics against external disturbance but also possessed the significant advantage of reducing braking distance during sudden braking on mu-split roads. However, the active steering control of this system delayed and yaw angle of the vehicle remained after the vehicle had stopped because the control started working only after a change in vehicle behaviour had been detected. In this paper, a new control method that reduces the above delay is proposed, its effectiveness confirmed, and the results of on-vehicle testing presented.
Samenvatting