Design and Implementation of Hardware-in-the-Loop Simulation Environment Using System Identification Method for Independent Rear Wheel Steering System

Abstract

In the automotive field, with the advancement of electronic and signal processing technologies, active control-based chassis systems have been developed to enhance vehicle stability. In this study, a Hardware-in-the-Loop (HiL) simulation environment was developed to effectively improve time and cost during the development process of an independent rear-wheel steering system. The HiL Simulation Environment was developed—a specific test bench capable of simulating driving loads on the prototype. Based on the system identification method, a reaction force modeling technique for the target driving loads was proposed. The full vehicle dynamics simulation model was developed with a lateral maximum error of 4.5% and a correlation coefficient of 0.98, as well as a longitudinal maximum error of 0.1% and a correlation coefficient of 0.99. The reaction force generation system had a maximum error of 2.9%. Using the developed HiL simulation environment, performance verification and analysis of the independent rear-wheel steering system were conducted, showing reductions of 5.1% in lateral acceleration and 5.2% in yaw rate.