Reaction force control on accelerator pedal and steering wheel basaed on tire-road friction forces

These days, electric vehicles are developing rapidly. Electric vehicles are expected to be alternative to the conventional gasoline engine vehicles and many researchers have studied motion control of electric vehicle. In this paper, to assist the vehicle driver using an accelerator pedal and a steering wheel is considered. In addition to steer-by-wire system, haptic pedal system which uses a motor set in an accelerator pedal is proposed as an interface between a vehicle driver and driving environment. Using these systems, a method how to control the reaction force on the accelerator pedal and the steering wheel for vehicle stability is proposed. Moreover an observer which estimates the tire-road friction forces is proposed to achieve the control. The stabilization control of the vehicle is performed as the system which included the operation of the vehicle driver. Simulation results are shown to verify the effect of the proposed method.