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<p>To enhance the handling stability of steer-by-wire (SbW) vehicles, this paper presents a hierarchical steering control scheme for the active front steering (AFS) system. Firstly, to reduce the driver’s operational burden, a variable steering ratio (VSR) model is established by dividing the vehicle speed range to balance low-speed steering agility and high-speed driving stability. Secondly, building upon this foundation, an AFS system based on super-twisting fast terminal sliding mode control (STFTSMC) is designed by combining the super-twisting algorithm with the fast terminal sliding surface function. This system dynamically generates the optimal additional front wheel steering angle to enhance the vehicle’s handling stability under extreme operating conditions. Notably, the chattering phenomenon in STFTSMC is effectively alleviated by introducing a hyperbolic tangent function. Thirdly, an anti-disturbance angle tracking algorithm based on fuzzy linear active disturbance rejection control (FLADRC) is proposed to achieve precise wheel steering angle tracking under external disturbances. Finally, a CarSim-Simulink co-simulation environment was established, and various test scenarios were designed to validate the proposed control strategy. The results demonstrate that the proposed approach achieved the lowest mean absolute error (MAE) and root mean square error (RMSE) in terms of both yaw rate error and steering angle tracking error.</p>

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A Hierarchical Steering Control Scheme for Handling Stability of Steer-by-Wire Vehicles with Active Front Steering

  • 期刊论文

  • 发表日期：

    2026年4月20日

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  • Jin Jiang Wang,
  • Rui Xia Sun,
  • Rong Yun Zhang,
  • Ping Xiao,
  • Lu Wei Liu

摘要

To enhance the handling stability of steer-by-wire (SbW) vehicles, this paper presents a hierarchical steering control scheme for the active front steering (AFS) system. Firstly, to reduce the driver’s operational burden, a variable steering ratio (VSR) model is established by dividing the vehicle speed range to balance low-speed steering agility and high-speed driving stability. Secondly, building upon this foundation, an AFS system based on super-twisting fast terminal sliding mode control (STFTSMC) is designed by combining the super-twisting algorithm with the fast terminal sliding surface function. This system dynamically generates the optimal additional front wheel steering angle to enhance the vehicle’s handling stability under extreme operating conditions. Notably, the chattering phenomenon in STFTSMC is effectively alleviated by introducing a hyperbolic tangent function. Thirdly, an anti-disturbance angle tracking algorithm based on fuzzy linear active disturbance rejection control (FLADRC) is proposed to achieve precise wheel steering angle tracking under external disturbances. Finally, a CarSim-Simulink co-simulation environment was established, and various test scenarios were designed to validate the proposed control strategy. The results demonstrate that the proposed approach achieved the lowest mean absolute error (MAE) and root mean square error (RMSE) in terms of both yaw rate error and steering angle tracking error.