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Self-driving vehicles represent an emerging technology with the potential to transform mobility through automation. However, ensuring safe and reliable autonomous operation necessitates advanced Steer-by-Wire (SbW) systems to replace mechanical linkages. The SbW system offers many benefits, such as improved maneuverability and stability performance. This study examines the performance and dynamics behavior of an SbW system for an autonomous test vehicle. The primary objective is to analyze the steer characteristics and performance under steady-state cornering conditions. The methodology utilizes experimental testing for low speed and simulation employing kinetic equations of bicycle model using MATLAB Simulink for high speed. Steady-state cornering procedures conducted for 25 km/h velocity and yaw rate data are obtained from the Inertial Measurement Unit (IMU) to characterize steer gradient and the autonomous vehicle (AV) steering performance. The results reveal a velocity-yaw rate relationship that shows an oversteering trend attributed to the limitations of the SbW controller and actuators.

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Analysis of the Steer Performance of a Steer-by-Wire System of Autonomous Vehicle in Case of Steady-State Cornering

  • 会议论文

  • 发表日期：

    2026年

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  • Nur Alya Roslan,
  • Peeie Mohamad Heerwan,
  • Otto Ernst Bernhardi,
  • K. Selvaratnam Dinesh,
  • Ishak Muhammad Izhar

摘要

Self-driving vehicles represent an emerging technology with the potential to transform mobility through automation. However, ensuring safe and reliable autonomous operation necessitates advanced Steer-by-Wire (SbW) systems to replace mechanical linkages. The SbW system offers many benefits, such as improved maneuverability and stability performance. This study examines the performance and dynamics behavior of an SbW system for an autonomous test vehicle. The primary objective is to analyze the steer characteristics and performance under steady-state cornering conditions. The methodology utilizes experimental testing for low speed and simulation employing kinetic equations of bicycle model using MATLAB Simulink for high speed. Steady-state cornering procedures conducted for 25 km/h velocity and yaw rate data are obtained from the Inertial Measurement Unit (IMU) to characterize steer gradient and the autonomous vehicle (AV) steering performance. The results reveal a velocity-yaw rate relationship that shows an oversteering trend attributed to the limitations of the SbW controller and actuators.