A new reference model for steer-by-wire applications with embedded vehicle dynamics

We propose a new a reference model for steer-by-wire applications. The model accounts for force reflection and vehicle dynamics interaction. In particular, a bicycle model including the front axle kinematic and lateral contact forces, are explicitly accounted during the model tuning. The model is completed with a virtual feedback force, designed from an optimal feedback control loop, that aims at imposing a particular steering behavior improving the vehicle handling characteristics. This results in a model that is (vehicle) velocity dependent with good stability properties. The model keeps such good properties even in presence of unmodelled tire-road dynamics, and under certain parameter variation