Control concepts for lateral vehicle guidance including HMI properties

This work presents a new method for the development of lateral vehicle guidance concepts utilizing steer-by-wire technology. Through steer-by-wire technology the steering command (feedforward) and feedback can be varied for different driving situations. The different combination of steering feedforward and feedback in the human-machine-interface (HMI) influences the driver\´s perception as well as the haptic interaction between driver and vehicle. New steering concepts may be developed based on appropriate HMI-properties learned from previous manual control research. This work demonstrates that: 1) at low vehicle speeds, the steering concept of "feedforward-force proportional to yaw-rate, in combination with feedback-position deduced from path curvature" is most suitable; 2) at intermediate and high vehicle speeds, the steering concept of "feedforward-force proportional to lateral acceleration, in combination with feedback-position deduced from yaw-rate" should be employed.