Thoresson, Michael JohnBotha, Theunis R.Els, Pieter Schalk2014-02-202014-06-302014Thoresson, MJ, Botha, TR & Els, PS 2014, 'The relationship between vehicle yaw acceleration response and steering velocity for steering control', International Journal of Vehicle Design, vol. 64, no. 2-4, pp. 195-213.0143-3369 (print)1741-5314 (online)10.1504/IJVD.2014.058487http://hdl.handle.net/2263/33649This paper proposes a novel concept for the modelling of a vehicle steering driver model for path following. The proposed steering driver reformulates and applies the Magic Formula, used for tyre lateral force vs. slip angle modelling as a function of vertical force, to the vehicle's yaw acceleration vs. steering velocity response as a function of vehicle speed. The path-following driver model was developed for use in gradient-based mathematical optimisation of vehicle suspension characteristics for handling. Successful application of gradient-based optimisation depends on the availability of good gradient information. This requires a robust driver model that can ensure completion of the required handling manoeuvre, even when the vehicle handling is poor. The steering driver is applied to a nonlinear full vehicle model of a sports utility vehicle, performing a severe double lane change manoeuvre. Simulation results show excellent correlation with test results. The proposed driver model is robust and well suited to gradient-based optimisation of vehicle handling.enInderscienceDriver modellingMagic formulaSteering responseTyre characteristicsVehicle handlingMathematical optimisationYaw acceleration responseSteering velocityVehicle designTyre lateral forceSlip angle modellingVehicle speedVehicle suspensionNonlinear modellingSports utility vehicle (SUV)Double lane changingLane change manoeuvresSimulationGradient-based optimisationFull vehicle modelsPostprint Article