Ergonomic verification of reactive torque control based on driver's sensitivity characteristics for active front steering

Active front steering (AFS) is an effective technique to stabilize motion control such as direct yaw control (DYC) for vehicle. However, if AFS intervenes excessively during the steering process, it becomes difficult to resolve the interference between driver steering and automatic steering by AFS. As a result, vehicles are at present rarely equipped with AFS. We propose a reactive torque control method for reducing the interference to a driver during AFS operation, and we verified that the control method is effective by the steering device.