1. Date of download: 10/26/2017
Copyright © ASME. All rights reserved.
From: Quantification of Road Vehicle Handling Quality Using a Compensatory Steering Controller
J. Dyn. Sys., Meas., Control. 2017;139(3): doi: /
Figure Legend:
Vehicle model with associated forces and dimensions

2. Date of download: 10/26/2017
Copyright © ASME. All rights reserved.
From: Quantification of Road Vehicle Handling Quality Using a Compensatory Steering Controller
J. Dyn. Sys., Meas., Control. 2017;139(3): doi: /
Figure Legend:
Lateral tire force for one axle. The curves show four different levels of longitudinal slip κ. The vertical axle force Fzj is 6000 N.

3. Date of download: 10/26/2017
Copyright © ASME. All rights reserved.
From: Quantification of Road Vehicle Handling Quality Using a Compensatory Steering Controller
J. Dyn. Sys., Meas., Control. 2017;139(3): doi: /
Figure Legend:
The road boundaries and the optimal paths of the US and OS vehicles

4. Date of download: 10/26/2017
Copyright © ASME. All rights reserved.
From: Quantification of Road Vehicle Handling Quality Using a Compensatory Steering Controller
J. Dyn. Sys., Meas., Control. 2017;139(3): doi: /
Figure Legend:
Optimal torque (T) through the maneuver for the US and OS vehicles. The torque is positive (accelerating) if the line is above road level and negative (braking) when the line is below road level. Both vehicles accelerate in the first part of the maneuver, then brake at corner entry and accelerate at the exit. The vertical lines correspond to data at time intervals of 0.4 s. The triangles and circles plotted at road level correspond to the three phases of the maneuver: braking on entry, transition from braking to accelerating at midcorner, and maximum drive torque at exit.

5. Date of download: 10/26/2017
Copyright © ASME. All rights reserved.
From: Quantification of Road Vehicle Handling Quality Using a Compensatory Steering Controller
J. Dyn. Sys., Meas., Control. 2017;139(3): doi: /
Figure Legend:
Optimal hand wheel angle (δsw) through the maneuver for the US and OS vehicles. The steering angle for the US vehicle is positive through most of the corner while it is positive at the beginning of the corner for the OS vehicle and negative (countersteering) toward the exit.

6. Date of download: 10/26/2017
Copyright © ASME. All rights reserved.
From: Quantification of Road Vehicle Handling Quality Using a Compensatory Steering Controller
J. Dyn. Sys., Meas., Control. 2017;139(3): doi: /
Figure Legend:
Relationship between maneuver time and CoM position. The optimal value to minimize maneuver time is 0.42.

7. Date of download: 10/26/2017
Copyright © ASME. All rights reserved.
From: Quantification of Road Vehicle Handling Quality Using a Compensatory Steering Controller
J. Dyn. Sys., Meas., Control. 2017;139(3): doi: /
Figure Legend:
Vehicle in the nominal and perturbed state. The lateral path error e is shown together with nominal and perturbed longitudinal velocity u, lateral velocity v, and yaw angle ψ.

8. Date of download: 10/26/2017
Copyright © ASME. All rights reserved.
From: Quantification of Road Vehicle Handling Quality Using a Compensatory Steering Controller
J. Dyn. Sys., Meas., Control. 2017;139(3): doi: /
Figure Legend:
Standard deviation of the lateral path deviation and heading angle for the US vehicle, calculated using Eq. (38) and an ensemble of 1000 time-domain responses

9. Date of download: 10/26/2017
Copyright © ASME. All rights reserved.
From: Quantification of Road Vehicle Handling Quality Using a Compensatory Steering Controller
J. Dyn. Sys., Meas., Control. 2017;139(3): doi: /
Figure Legend:
Standard deviation of the compensatory hand wheel rate calculated using Eq. (38) and drive/brake torque for the US vehicle calculated using Eq. (40) and an ensemble of 1000 time-domain responses

10. Date of download: 10/26/2017
Copyright © ASME. All rights reserved.
From: Quantification of Road Vehicle Handling Quality Using a Compensatory Steering Controller
J. Dyn. Sys., Meas., Control. 2017;139(3): doi: /
Figure Legend:
Standard deviation of lateral path error through the maneuver

11. Date of download: 10/26/2017
Copyright © ASME. All rights reserved.
From: Quantification of Road Vehicle Handling Quality Using a Compensatory Steering Controller
J. Dyn. Sys., Meas., Control. 2017;139(3): doi: /
Figure Legend:
Standard deviation of heading error through the maneuver

12. Date of download: 10/26/2017
Copyright © ASME. All rights reserved.
From: Quantification of Road Vehicle Handling Quality Using a Compensatory Steering Controller
J. Dyn. Sys., Meas., Control. 2017;139(3): doi: /
Figure Legend:
Standard deviation of compensatory hand wheel angle through the maneuver

13. Date of download: 10/26/2017
Copyright © ASME. All rights reserved.
From: Quantification of Road Vehicle Handling Quality Using a Compensatory Steering Controller
J. Dyn. Sys., Meas., Control. 2017;139(3): doi: /
Figure Legend:
Surface plot showing how the standard deviation of the compensatory hand wheel angle varies with CoM position and time through the maneuver. The US and OS vehicles correspond to the boundaries of the surface.

14. Date of download: 10/26/2017
Copyright © ASME. All rights reserved.
From: Quantification of Road Vehicle Handling Quality Using a Compensatory Steering Controller
J. Dyn. Sys., Meas., Control. 2017;139(3): doi: /
Figure Legend:
Directional stability derivative for the OS and US vehicles through the maneuver

15. Date of download: 10/26/2017
Copyright © ASME. All rights reserved.
From: Quantification of Road Vehicle Handling Quality Using a Compensatory Steering Controller
J. Dyn. Sys., Meas., Control. 2017;139(3): doi: /
Figure Legend:
Yaw damping derivative for the OS and US vehicles through the maneuver

16. Date of download: 10/26/2017
Copyright © ASME. All rights reserved.
From: Quantification of Road Vehicle Handling Quality Using a Compensatory Steering Controller
J. Dyn. Sys., Meas., Control. 2017;139(3): doi: /
Figure Legend:
Control moment derivative for the US and OS vehicles through the maneuver

17. Date of download: 10/26/2017
Copyright © ASME. All rights reserved.
From: Quantification of Road Vehicle Handling Quality Using a Compensatory Steering Controller
J. Dyn. Sys., Meas., Control. 2017;139(3): doi: /
Figure Legend:
Eigenvalues for the US vehicle going through the maneuver described in Sec. 3. The circles plotted on the time axis correspond to the three phases of the maneuver: braking on entry, transition from braking to accelerating at midcorner, and maximum drive torque at exit. Positive real parts indicate instability; nonzero imaginary parts indicate oscillation.

18. Date of download: 10/26/2017
Copyright © ASME. All rights reserved.
From: Quantification of Road Vehicle Handling Quality Using a Compensatory Steering Controller
J. Dyn. Sys., Meas., Control. 2017;139(3): doi: /
Figure Legend:
Eigenvalues for the OS vehicle going through the maneuver described in Sec. 3