Modeling on Steering Feedback Torque Based on Data-Driven Method
Rui Zhao, Weiwen Deng, Bingtao Ren, Juan Ding
Abstract
The steering feedback torque (SFT) is a key part of driving simulator and steer-by-wire system, which provides driver with desired road feel and vehicle motion dynamics. Therefore, accurately modeling of SFT is of great significance for driver to get better steering feel. Since SFT can be affected by many linear or nonlinear factors, it is appropriate to model SFT using data-driven method. In this article, we adopt artificial neural network (ANN) and Gaussian process regression (GPR) to build the SFT model, and analyze the performance. Considering the fact that the contributing factors for SFT may vary under different driving conditions, we employ K-Means to precluster the training dataset to improve the model accuracy. The model training and validation processes are mainly data-driven, and the results show that GPR and ANN can achieve similar prediction accuracy with the mean square error to be around 0.10. Since the GPR model can be trained much faster than ANN model, it is more suitable for real-time application. It is further demonstrated that using preclustered data based on K-Means for model training can significantly improve its accuracy without sacrificing its computational efficiency.