Dual-Target Road Sense Construction for Steer-By-Wire Systems: Design, Control, and Real-Vehicle Validation

This is the authors' abstract. We don't add key points for this paper.

The steer-by-wire (SbW) system removes the mechanical linkage of traditional steering, enabling advanced driving technologies. However, this decoupling separates torque and angle transmission. Most existing studies focus on steering feedback torque (SFT) control, with steering angle control needs largely neglected. To address this issue, this paper proposes a dual-target road sense construction and control strategy for SbW systems. The SFT design is modularized, and a fuzzy logic approach with a tracking differentiator is employed to generate the target steering angle rate (SAR), providing an angular interface for complete scenarios. Subsequently, a dual-target controller based on explicit model predictive control with friction compensation (SEMPC) is developed. It incorporates both a torque based EMPC and an angle based EMPC. The friction compensation ensures control accuracy and real-time performance through. Rather than relying solely on conventional control loops, the proposed construction reasoning scheme supports complex dynamic responses and human-machine interaction tasks. Such capabilities align well with the core objectives of engineering informatics. This approach is validated on a real-vehicle SbW platform, demonstrating the rationality of the proposed dual-target construction as well as the effectiveness and superior performance of the dual-target controller. Additionally, based on the proposed construction, an engineering application case is developed to achieve a “hard limit” steering sense through angle control.