Driver-friendly motion control based on electric power steering and in-wheel motors on electric vehicle

This paper proposes to control driver’s steering sensitivity and vehicle yaw motion based on human sensorial characteristics. Firstly, linearisation control of steering sensitivity enables the driver to recognize vehicle and road state via reaction torque of a steering wheel. It is power assist based on human kinesthetic sense by electric power steering. Secondly, linearisation control of vehicle yaw motion with in-wheel motors. Humans feel rotational motion by semicircular canal and vision. A driver controls yaw motion with the steering wheel. Therefore, this control increases operational performance for the vehicle. These controls will provide human-friendly manmachine interface to the driver.