Seoul 2000 FISITA W orld Automotive Congress F2000H257

June 12 – 15, 2000, Seoul, Korea

Application of Feed Forward Controller on a Four Wheel Steering Car

: The Concept

Bambang Sampurno1), H.A. Tjokronegoro2), Farida I. M 2), W. Arismunandar 3)

1)
Department of Mechanical Engineering Sepuluh November Institute of Technology, Surabaya, Indonesia,
e-mail: sampurno@tf.itb.ac.id.
2)
Department of Egineering Physics Bandung Institute of Technology, Indonesia.
3)
Department of Mechanical Engineering Bandung Institute of Technology, Indonesia.

ABSTRACT
In this paper will be presented an alternative of feed forward controller (FFC) system to overcome four wheel steering

weaknesses. The system estimates vehicle output parameters that consists of lateral acceleration ( v ), roll rate ( ) and yaw rate
(  ) as well as the correct input parameters of vehicle that consists of longitudinal speed (Uo) and steering wheel (sw). To estimate
vehicle output parameters will be used full car mathematical model. The estimated vehicle output parameters together with given
vehicle input parameters are used to estimate understeer coefficient (Ku). Finally, it will be used to compute the correct vehicle
input parameters those are required by the 4WS system.
Key words: feed forward controller, understeer coefficient, estimator and modifier.

INTRODUCTION proposed solutions were closed loop based on half car

Application of four wheel steering (4WS) system on
vehicle has the aim to improve maneuverability at low-
middle speed and to improve vehicle stability at
middle-high speed. The critical conditions are arisen
because the rear wheel direction is not static. However
weaknesses are always follow. There are tending to
oversteer at low-middle speed and understeer at
middle-high speed. The understeer coefficient shifted
to negative value at low-middle speed and to positive
value at middle-high speed (Sampurno B. et al.,1999).
Another problem is input parameters that are given by
driver were difference to those are required by 4WS
system.
Some solutions of the problems have been
presented. At low-middle speed, the rear wheel
direction is controlled by vehicle input parameters and
is corrected by front-end path direction. This solution
has been proposed by Adachi K (1991). V T Tran
(1992) and Lee A Y (1995) have proposed another
solution of the middle-high speed. In this case, the rear
wheel steering direction was controlled by vehicle
input parameters and by yaw rate feed back. All of the
model. There were not consider difference between the
left and right wheel forces. In addition the close loop
solution needs feed back sensor(s), that results a high cost
implementation.
In this paper, authors propose an application of feed
forward controller to overcome the problems. The
concept of application of the feed forward controller
on a four wheel steering car is presented by following
block diagram shown by Figure 1.
In the figure, the input parameters given by driver
are different to those are required by the vehicle. In the
proposed solution, the given input parameters are not
directly to be given to the vehicle. It will be corrected first
by modifier M(s). The estimated input parameters are
calculated based on the estimated output parameters. The
mathematical model of 4WS has been used to estimate the
output parameters. Prior to estimate the correct input
parameters, the understeer coefficient will be calculated.
The estimated of output parameters and the input
parameters given by driver are used to estimate vehicle
input parameters by E2(s). Finally, the results are used to
correct vehicle input parameter that are given by driver
by modifier M(s).

1
 sw ˆ
sw
Driver M(s) V(s)
Uo Û o v

ˆ
sw Û o

v̂
E2 (s)
/ E1 (s)
Ku ˆ


Feed forward controller

Figure 1. Block diagram of driver – four wheel steering car system

with feed forward controller

ESTIMATION OF THE VEHICLE OUTPUT aCf bCr  a 2C b 2C r

 aCf
PARAMETERS 2 v 2 f  ( f1 f2 )
Uo I zz  Uo I zz I zz
The vehicle output parameters is estimated in the bC

proposed solution using mathematical model of the r ( r1 r2 ) (2)

I zz
vehicle, based on the input parameters given by driver.

To find good results, it is used a full car model.
In the solutions, has been modified the
mathematical model developed by [3],[5] and [7].
Where, will develop two direction of equilibrium at
low-middle speed and will develop three direction of
equilibrium at middle high speed.
The modified mathematical model at low-middle
speed then are given as follow:
Cf Cr  Cf a Cr b
v 2 v 2 Uo 
Uom  Uom
Equation (1) shows that lateral acceleration is
influenced by input parameters longitudinal speed Uo
and direction of each wheel (f and r index are front
and rear respectively, 1 and 2 are left and right
respectively). Where m is total mass, Cf and Cr are
front and rear cornering stiffness respectively, a and b
are distance of front and rear shaft to center of gravity.
Meanwhile equation (2) shows that yawing
acceleration is also influenced by input parameters and
Cf yaw inertia Izz.
(f 1 f 2 ) The modified mathematical model at middle-high
m
speed then are given as follow:

Cr 
(1) 
C f C C aCb r C
2
 ( )
v 2 v 2 Uo 
r1 r2 r f f
m (f1 f2 )
Uom  Uo m m

3
 Cr
( r1 ) (3) Figure 2 shows that estimation of understeer
r2
m coefficient is calculated using the vehicle input
parameters given by driver ( note: driver habit is 2WS
aC f bCr  a 2C f b 2C r
 aC f system) and the estimated vehicle output parameters

2 v 2  (f1 f2 ) ( ˆ , v̂ , ˆ ).
 U o I zz  U o I zz I zz
bC r  Understeer coefficient is given [2],[7] and [9]:
(4)
( r1 r2 )
I zz
g 57 .3 Lg
K sw (6)
Cf Cr 
u 2
Cf aCrb Cf N sU o U o

2h v2h Uo  (f 1 f 2 )
UoIxx  UoIxx Ixx
Equation ( 6 ) shows that understeer coefficient will
Cr  r2 k C (5) increase proportionally to the input parameter sw. But it
( r1
)
I xx I xx I xx will decrease when the input parameters Uo and the
output parameters increase. Ns is steering ratio, g is
Equation ( 3 ) and ( 4 ) similar to the equation ( 1 ) gravitational acceleration and L is distance of rear and
and ( 2 ), except direction of the rear cornering are front axle.
opposite, caused by direction of lateral force. The low- At low-middle speed, understeer coefficient is given
middle speed is opposite to the middle-high speed. by [6] :
Equation ( 5 ) shows that the roll acceleration is


r
developed at middle-high speed, it is influenced by K ul f  r
(7)
input parameter. Meanwhile, it is also influenced by

height of center of gravity h, rolling stiffness k , rolling

It shows that the understeer coefficient is influenced
damper C and roll inertia Ixx. not only by slip angle f but also by rear wheel
direction. Therefore, reduction factor in the brackets is
to increase so the result is always negative.
ESTIMATION OF THE VEHICLE INPUT At middle-high speed, understeer coefficient is
PARAMETERS given by [6]:

r r 
The estimation of vehicle input parameters has the K uh f (8)
aim to find vehicle input parameters that are required

by 4WS system. In the estimator, understeer coefficient

It shows that reduction factor in the brackets is to
that is estimated previously, is used to compute vehicle
decrease so the result is always positive.
input parameters. The concepts of the estimator is
presented as Figure 2.
MODIFIER
sw
ˆ As mentioned previously, 4WS behavior is
sw
Vehicle models difference with 2WS system. It gives an opportunity to
driver to set an error, when driving the 4WS system.
Uo Ku
v̂ ˆ ˆ
( from output parameters estimator )
4
Uˆ o T ver. Concepts of the modifier is presented by Figure 3a
h and
er 3b.
ef
o
re
,
it
is
re
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ui
re
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a
n
a
ct
iv
e
c
o
m
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e
n
s
at
io
n
to
c
o
rr
e
ct
th
e
in
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ut
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et
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Figure 2. Vehicle input parameters estimator

6

U2ws(t)
M(s)
Û o from estimator
Figure 3a. Longitudinal speed modifier
Figure 3a shows that longitudinal speed given by
the driver U2WS(t), not directly to be given to the
vehicle. It will be corrected first by the estimated of the
system. The system advantage is that it realize an open
loop system. Where, it does not need a feed back
sensor (s). The other advantaged is the active
Û 4WS (t+d) compensation of the input parameters can suite the
diver learning behavior. To realize the concept will
validated theory formulation the full car mathematical
model, the input and output estimator and the active
modifier used.
REFERENCES
[1]. Adachi K et.al.,” Study on a New Four Wheel
Steering Control Method at Low Speed – Front
end Path Memorizing Method,” 8th International
Conference on Automotive Electronic, London

longitudinal speed Û o (t U 2WS , Yˆ , t d ) . The results of 1991.

[2]. Gillespie T. D. ,” Fundamentals of Vehicle
modifier M(s) is then the longitudinal speed of 4WS Dynamics ,” SAE. Inc. 400 Warrandale, USA,
system Û 4WS(t d ) . The delay factor d is arisen to 1992.

compensate the natural of the driver adaptation [3]. Karnoop et al,” Steering Control for Roll Mode
capacity. Damping Augmentation in Tall Road ,” SAE
The steering wheel modifier is presented by Figure 932947, February, 1993.
3b. [4]. Lee A.Y.,” Emulating The Lateral Dynamics of
Range of Vehicles Using a Four Wheel Steering
2WS
(t)  ˆ4WS (t+d) Vehicle,” SAE 950304, February 1995.
[5]. Lee A.Y.,” Performance of Four Wheel Steering
M(s)
Vehicles in Lane Change Maneuvers,” SAE
950316, February 1995.
[6]. Sampurno, B et al,” Estimator of Understeer
Coefficient Based on Full Car Model at Four
 ˆ sw from estimator Wheel Steering ,” Asia/Pacific International
Congress on Engineering Computational and
Figure 3b. Steering wheel modifier Signal Processing (ECM&SP’99), Bandung,
Indonesia, November 1999.
Figure 3b. shows that the steering wheel is modified [7]. Sutantra I N ,” The Effect Operational Parameters
by M(s) using the same concept of the longitudinal on Vehicle Directional Responses ,” P.hD.
speed modifier. The steering wheel that is given by the Dissertation University of Wisconsin Madison,
driver 2WS (t), not directly to be given to the vehicle. It Wisconsin USA, 1984.
will be corrected first by the estimated of the steering [8]. V. T. Tran,” Handling Control With Additional

Rear Wheel Steering,” Paper 925050, XXIII

wheel  ˆsw (t  2WS , Yˆ , t d ) . Output of the modifier FISITA Congress, London-England, 1992.

M(s) is the estimated of steering wheel of 4WS system [9]. Wong J.Y.,” Theory of Ground Vehicles,” John
ˆ (t d ) required by vehicle.
Wiley and Sons, New York, 1978.
4WS

7
CONCLUTIONS

Has been proposed an alternative to solve the 4WS

system weaknesses using a feed forward controller