Development of HIL - real vehicle dual steering wheel test platform for automotive SBW system based on variable transmission ratio control

To validate the control strategy of the variable transmission ratio and the effectiveness of the actuator control algorithms for the automobile steer-by-wire (SBW) system, while ensuring safety during field tests, we developed an innovative dual steering wheel SBW system hardware-in-the-loop (HIL) and real vehicle test platform. This integrated platform, designed for both simulation and actual vehicle testing, features mechanically heterogeneous redundant structures for robustness. The HIL component verifies the SBW system's response and stability, while the real vehicle segment assesses the flexibility and stability of the control strategies during field tests, ensuring safety under extreme conditions. Initial HIL tests using an extended PID control algorithm demonstrated rapid, accurate steering command responses. The control strategies implemented with the CANoe tool for feedforward control revealed ideal transmission ratios. Subsequent real vehicle tests successfully confirmed the effectiveness of the control strategies. The platform's redundant components highlighted the differences in variable transmission ratios and ensured safety, enabling immediate driver intervention in emergencies. This comprehensive platform facilitates efficient, cost-effective testing from control algorithm response verification to real-vehicle evaluations, enhancing safety and efficiency through a streamlined design.