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This paper presents a physically intuitive method for altering a vehicle handling characteristics through active steering intervention. A full state feedback controller augments the driver steering command via steer-by-wire to achieve desired handling behavior. Accurate estimates of vehicle states are available from a combination of the Global Positioning System (GPS) and inertial navigation system (INS) sensor measurements. By canceling the effects of steering system dynamics and tyre disturbance forces, the steer-by-wire system is able to track commanded steer angle with minimal error. Experimental results verify that with precise steering control and accurate state information, a vehicle handling characteristics can be modified to match driver preference or to compensate for changes in operating conditions.
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Yih et al. (2004) studied this question.
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