Modelling and controlling the steering force feedback using Simulink and xPC Target

Abstract

The DLR Institute of Transportation Systems has a 3-D virtual reality laboratory (VR-Lab). Besides the simulation of scenery and traffic, the implementation of hardware for lateral and longitudi-nal control of a simulated car is essential for the quality of the simulation. For the man-machine-interaction, a driver box with real mechanical parts (e.g. pedals and a steering wheel) was built. In order to provide realistic haptic feedback to the driver, these parts are either equipped with mechanical springs (pedals) or connected to an actuator (steering wheel). This steering wheel actuator is controlled via a simulink xPC Target model. This paper will present a validated model of the steering wheel behaviour. Using the xPC Target toolbox options, this model runs in a stand-alone mode on a target PC and thus operates as a controller for the steering wheel actuator. The possibilities and advantages for the development and realisation process of a controller are shown with the example of this model. A special focus will be on the safety functions which are developed to guarantee safe operation as well as on the steering behaviour validation experiments. Additionally, a short description of the coupling with an extern driving dynamic simulation will be included.