Browse Topic: Steering systems

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Autonomous Aircraft Docking: A Vision-Based Approach to Aircraft Parking Systems2026-26-0786To be published on 06/01/2026
Automated aircraft parking systems represent a significant advancement in airport ground operations by enabling precise, autonomous docking of aircraft at gates. These systems aim to reduce turnaround time, minimize human error, and optimize apron space utilization through intelligent control and sensor-guided alignment. By integrating technologies such as real-time object detection, obstacle avoidance, and dynamic path planning, aircraft can be maneuvered safely and efficiently into parking positions without manual intervention. Key challenges include precise steering control during final alignment, maintaining wingtip clearance, and adapting to variable environmental conditions such as low visibility due to rain, fog, or poor lighting. Unlike systems that rely solely on fixed guided paths, the proposed approach dynamically adapts to apron congestion and environmental variability, ensuring consistent performance across diverse conditions. This flexibility enhances operational
Penugonda, Navya Sunaina, Ediga, Venkatadiwakar Goud
Quantum-Inspired Evolutionary Optimization for Optimal Re-Orbital Entry Trajectory Planning in Support of In-Orbit Satellite Refueling Missions2026-26-0725To be published on 06/01/2026
Trajectory optimization for reusable launch vehicles is a critical challenge in space mission design, aiming to determine fuel-efficient paths for spacecraft during ascent, hover, and descent phases. Minimizing fuel consumption not only enhances cost-effectiveness but also improves mission sustainability. The optimization process is governed by nonlinear orbital mechanics, gravitational perturbations, atmospheric drag, and operational constraints such as thrust limits and collision avoidance. These factors make the problem highly nonconvex and discontinuous, posing significant difficulties for classical gradient-based approaches, which often fail to identify global optima. In this work, we formulate the trajectory optimization problem for a reusable rocket executing an ascent–hover–descent cycle. The vehicle must ascend to a specified target altitude, maintain a stable hover for a given duration, and then return to the launch site. The primary decision variable is the throttle control
ESWARA SAI KUMAR, KANDULA, Singh, Utkarsh, Pohankar, Pritam, A, Anoop, Maharana, Priyabrata, Lineswala, Rut
Trajectory Prediction Model for Autonomous Vehicles in Highway Scenarios Based on Spatiotemporal Interaction Feature Extraction2026-01-0027To be published on 04/07/2026
Accurately predicting the future trajectories of surrounding vehicles is one of the core tasks in autonomous driving, and its precision is directly related to the safety and reliability of decision-making, path planning, and control execution. However, challenges such as the complexity of traffic participants’ behaviors, the variability of interactions, and the highly dynamic nature of traffic environments make it difficult for existing methods to effectively model spatiotemporal dependencies and achieve accurate long-term prediction in dynamic scenarios, thus limiting their applicability in real-world settings. In this paper, we propose a Transformer-based trajectory prediction model with a spatiotemporal attention mechanism to extract and effectively model vehicle motion and spatial interactions. Specifically, the temporal attention module captures the motion patterns of the target vehicle across the time dimension, while the spatial attention module constructs vehicle interactions
Zhang, Lijun, Hu, Xingyu, Meng, Dejian, Zhu, Zhehui
Impact of Instantaneous Center of Rotation Variability on Path Planning and Performance of Park Assist Systems2026-01-0053To be published on 04/07/2026
Parking assist systems are among the most widely adopted driver-assistance features in modern vehicles. A key component of these systems is the path planning module, which ensures accurate vehicle alignment within a parking slot while satisfying various constraints such as maintaining slot centering, avoiding collisions in confined spaces, minimizing maneuver count, and achieving the shortest feasible path. Multiple path generation techniques—such as geometric, polynomial-based, and search-based methods—have been developed to enable safe and efficient parking maneuvers. However, most of these approaches rely on the simplifying assumption that the vehicle’s instantaneous center of rotation (ICR) is fixed, typically located on the non-steering axle. In practice, the ICR is not constant and can vary significantly across vehicles due to several physical and kinematic factors, including steering geometry, tire slip characteristics, suspension configuration, and weight distribution
Awathe, Arpit, Patanwala, Abizer, Jain, Arihant, Varunjikar, Tejas
Sideslip Angle Estimation for Mining Trucks Based on Real-Time Cornering Stiffness Identification2026-01-0618To be published on 04/07/2026
High-precision estimation of key vehicle–road state parameters is crucial for ensuring the accurate and safe control of mining trucks (MT), as well as for reliable trajectory tracking. Among these parameters, the vehicle sideslip angle is particularly critical for assessing and predicting lateral stability. However, its direct measurement is challenging, and its estimation typically depends on an accurate characterization of tire cornering stiffness. For MT, large variations in loading conditions (from empty to fully loaded) pose significant challenges to sideslip angle estimation due to the resulting nonlinearity and variability of tire cornering stiffness. To address this issue, a novel joint estimation framework integrating the Moving Horizon Estimation (MHE) and Square-Root Cubature Kalman Filter (SCKF) is proposed to simultaneously achieve high-precision estimation of both tire cornering stiffness for each tire and vehicle sideslip angle. In this framework, the cornering stiffness
Xia, Xue, Shen, Peihong, Jiao, Leqi, Li, Tao, Chen, Huiyong, Zhao, Kun, Jiao, Leqi, Zhao, Zhiguo
Oscillatory Behavior of Understeering Vehicles2026-01-0623To be published on 04/07/2026
Oscillations in understeering vehicles are occasionally described in the literature, primarily in terms of the poles of the yaw rate response, but perhaps not completely appreciated in their complexity. This work shows that as speed of an understeering vehicle increases, the increasingly underdamped poles of the yaw rate transfer function combine with the effects of a low frequency zero and a reduced steady-state response to result in oscillations greater than would be expected from eigenvalues alone. A speed range for acceptable yaw rate response is suggested, and it is shown that a typical understeering passenger car operates within this range. As the understeering vehicle’s speed increases beyond this range, the high-speed limit of the oscillation frequency is found.
Williams, Daniel
Design Development and Optimization of Hybrid Cross-Car Beam for Performance Here2026-01-0513To be published on 04/07/2026
The cross-car beam (CCB) within the instrument panel (IP) is a multifunctional structural element that supports safety, vibration control and modular integration in automotive design. The reduction of mass without compromising structural integrity plays a vital role in this endeavor. This study presents the design and optimization of design intent model of magnesium beam to meet the performance requirements Vs study model of hybrid cross car beam using magnesium steering column bracket, steel and plastic material to achieve reduced mass and enhanced stiffness while meeting performance targets. Advanced Computer Aided Engineering (CAE) techniques were employed, including topology optimization, lattice optimization, bracket sensitivity studies as well as shape & gauge optimization. Performed benchmarking against industry models such as Tesla Model Y observed hybrid material with structural simplification. The final hybrid beam design demonstrated overall cost reduction, while satisfying
Didgur, Gulzarahmed, McAdams, Ian, Viswaraj, Obuliraj
Development of a Model-Aware Data-Driven Control Algorithm for a Drive-by-Wire System for a Level 4 Automated Vehicle2026-01-0043To be published on 04/07/2026
Precision control in Level 4 Automated Vehicles is essential for enhancing operational efficiency, accuracy, and safety. This work, conducted as part of ARPA-E’s NEXTCAR program, focuses on developing a robust hardware and software control solution to enable drive-by-wire functionality. A previous publication by the authors presented the hardware solutions for overtaking stock vehicle controls. This paper focuses on a model-based and data-driven control algorithm to enable drive-by-wire functionality for longitudinal and lateral motion control for a 2021 Honda Clarity Plug-In Hybrid Electric Vehicle. This vehicle was equipped with a set of sensors and an onboard processing unit to enable Level 4 automation. For lateral controls, an algorithm was developed to command steering torque to the electronic power steering module, ensuring the vehicle could attain the desired steering angle position at varying speeds. The system leveraged feedforward and feedback mechanisms. Feedback controller
Adsule, Kartik, Bhagdikar, Piyush, Drallmeier, Joseph, Alden, Joshua, Gankov, Stanislav
Curvature-Based End-to-End Autonomous Vehicle Path Planning at Intersections2026-01-0045To be published on 04/07/2026
Autonomous vehicle navigation requires accurate prediction of driving path curvature to ensure smooth and safe trajectory planning. This paper presents a novel approach to curvature prediction using deep neural networks trained on GPS-derived ground truth data, rather than model predictions, providing a more accurate training signal that reflects actual vehicle motion. We develop a multi-modal neural network architecture with temporal GRU encoders that processes vision features, driver intent signals, historical curvature, and vehicle state parameters to predict curvature. A key innovation is the use of GPS-based actual curvature measurements computed from vehicle motion data (κ = ωz/v) as training supervision, enabling the model to learn from real-world driving patterns. The model is trained on 5,322 samples from real-world driving data collected on The University of Oklahoma’s Norman Campus using a Comma 3X device and a 2025 Nissan Leaf electric vehicle. Experimental results
Hajnorouzali, Yasaman, Wang, Hanchen, Li, Taozhe, Burch, Collin, Lee, Victoria, Tan, Lin, Arjmandzadeh, Ziba, Xu, Bin
Monocular 3D Perception and Lane-Aware Bird’s-Eye-View Mapping for Autonomous Driving2026-01-0012To be published on 04/07/2026
Accurate perception of the surrounding environment is fundamental and essential to safe and reliable autonomous driving. This work presents an integrated vision-based framework that com bines object detection, 3D spatial localization, and lane segmentation to construct a unified bird’s-eye-view (BEV) representation of the driving scene. The pipeline provides geometric information on object position and orientation by employing Omni3D to infer 3D bounding boxes of objects from monocular camera frames. Detections are subsequently projected onto a 2D BEV canvas, where object instances are represented with respect to the ground plane for enhanced interpretability. To complement the object-level perception, we utilized YOLOPv2 to perform lane segmentation, producing both lane masks and lane line masks in the image domain for future coordinate transformation. By adopting a pinhole camera model, the coordinate transformation of these masks from the perspective image plane into the BEV canvas
Tan, Lin, Arjmanzdadeh, Ziba, Wang, Hanchen, Li, Taozhe, Hajnorouzali, Yasaman, Burch, Collin, Lee, Victoria, Xu, Bin
Revisiting Rear Seat Safety: Field Evaluations of Relative Injury Risk Across Seating Positions and the Integration of Advanced Rear Seat Belt Systems2026-01-0561To be published on 04/07/2026
Despite advances in crash avoidance, occupant restraint systems remain crucial in protecting the motoring public. Following decades of improvement in occupant protection, including several supplemental restraint systems for front seat occupants, the safety of rear seat occupants has recently undergone scrutiny. Studies evaluating rear seat occupant injury risk via field crash data have reported reduced relative safety in rear seating positions and alluded to advanced rear seat restraints, such as pretensioners and load limiters, as potential solutions. While the pursuit of novel technologies has historically improved occupant outcomes, evaluation of new systems in both controlled laboratory environments and field crashes is necessary to understand potential consequences of widespread introduction. This study analyzed the prevalence of advanced seat belts (load limiters and pretensioners) in the rear seating positions in the U.S. fleet. Additionally, occupant injury risk was compared
Rapp van Roden, Elizabeth Ann, Miller, Bruce, Pearson, Joseph, Williamson, James, Brown, Thomas
Leveraging Machine Learning for Occupant Body Size Estimation via B-Pillar Seatbelt Systems2026-01-0559To be published on 04/07/2026
Occupant body size in vehicles varies significantly, encompassing differences in height, mass, and overall body composition. Adaptive restraint systems, featuring adjustable parameters such as belt load limiters, steering column load limiters and stroke, seat pan stiffness, and airbag pressure, can offer more equitable protection tailored to individual body sizes. In this study, a test rig modeled after the Volvo XC90 (2016) was used to collect data from 46 participants who were dressed in typical summer clothing and seated upright, without slouching or leaning sideways. Stepwise adjustments of the seat pan and seatback were performed. The collected measurements include seat pan movements (front-back and up-down), seatback recline, and key seatbelt-related parameters, such as belt payout length, D-ring angle, lap belt length, and buckle tension. The collected data was then used to train machine learning models to predict individual occupant characteristics: standing height, mass, and
Wang, Da, Ahmed, Jawwad, Rowe, Mike, Brase, Dan
LiDAR-Driven A* Path Planning with Dynamic Obstacle Avoidance for Autonomous Navigation in ROS2026-01-0030To be published on 04/07/2026
Autonomous mobile robots are becoming a key part of everyday operations in industries like manufacturing, logistics, healthcare, and even home assistance. A core requirement for these robots is the ability to navigate efficiently and reliably within their operating environments. To do this automation, the robot needs to understand its surroundings, figure out where it is on a map, and find a safe path from where it is to where it needs to go without bumping into anything. This paper presents an effective grid-based path planning solution for autonomous indoor navigation with a mobile robot. Achieving reliable and collision-free navigation in changing environments is a major challenge for mobile robotics. This is especially true when obstacles can appear unexpectedly, requiring quick re-planning. To tackle this issue, an improved A* algorithm was implemented to work closely with LiDAR for environmental awareness. The improved algorithm was added to the robot’s navigation system, and
Devaraj, Sriram Sanjeev, Park, Jungme
Reliability-Based Vibration Design of Vehicle Systems with Tuned Mass Dampers (TMD)2026-01-0139To be published on 04/07/2026
Tuned Mass Dampers (TMDs) are widely used in the automotive industry to mitigate Noise, Vibration, and Harshness (NVH) issues across various vehicle systems. These passive devices are particularly effective in reducing structural vibrations in components subjected to resonant excitation. However, real-world applications often face challenges due to manufacturing variability and system-level build differences, which can cause deviations in both the TMD’s tuned frequency (up to ±15%) and the vibration characteristics of the host structure. These uncertainties—in both the TMD properties and the vehicle subsystem dynamics—can be modeled using statistical distributions. This paper presents a generalized methodology for vibration analysis and design under uncertainty, combining reliability engineering with dynamic vibration modeling. The approach formulates a unified mathematical framework that incorporates probabilistic and stochastic modeling to assess TMD performance under a range of
Abbas, Ahmad, Haider, Syed, d'Souza, Suneel
OFEODM: An Vehicle Onboard Fast and Efficient Object Detection and Distance Prediction Model2026-01-0017To be published on 04/07/2026
Object detection and distance prediction have advanced significantly in recent years. The YOLO toolbox has released its 11th version, along with numerous variants that have been applied across various fields. Meanwhile, the Detection Transformer (DETRs) has repeatedly set new state-of-the-art (SOTA) records in the field of object detection. Depth Anything also released its second version last year, further pushing the boundaries of distance detection. Although these models achieve impressive performance, they often require substantial computational resources. However, for the algorithms intended for real-world applications and deployment on onboard devices, computational efficiency are extremely critical. Inference time per frame is a critical factor in ensuring an algorithm’s reliability and feasibility. Designing a model that operates in real time without sacrificing accuracy remains an extremely challenging problem, and extensive research is ongoing in this area. To address this
Li, Taozhe, Wang, Hanchen, Hajnorouzali, Yasaman, Xu, Bin
Navigation Integrated End-To-End Path Planning Development and Vehicle Testing2026-01-0032To be published on 04/07/2026
In order to achieve fully autonomous driving, point to point autonomous navigation is the most important task. Most existing end-to-end models output a short-horizon path which makes the decision process hard to interpret and unreliable at intersections and complex driving scenarios. In this research, we build a navigation-integrated end-to-end path planner on top of an openpilot open source model. We created a navigation branch that encodes route polyline geometry, distance-to-next-maneuver, and high-level instructions and combines with path plan branch using residual blocks and feed-forward layers. By adding minimal parameters, new model keeps the original openpilot tasks unchanged and have the path output based on the navigation information. The model is trained on diverse urban scenes’ intersections, and it shows improved route performance in vehicle testing. The proposed model is validated in a Comma 3x device installed on a 2025 Nissan Leaf test vehicle. The road test results
Wang, Hanchen, Li, Taozhe, Hajnorouzali, Yasaman, Burch, Collin, li, Victoria, Tan, Lin, Arjmanzdadeh, Ziba, Xu, Bin
Data-Driven Feedforward Compensation-Based Trajectory Tracking Control2026-01-0028To be published on 04/07/2026
Advanced autonomous driving is a critical component in the intelligent development of new-generation electric vehicles. Research on reliable chassis control algorithms ensures the safety and stability of autonomous vehicles during operation. To enhance the control performance of autonomous vehicles and improve the accuracy of trajectory tracking, this paper proposes a data-driven feedforward compensation trajectory tracking control approach. By optimizing the design of the feedforward compensation loop, systematic errors and latency in the vehicle’s steering system are mitigated, thereby enhancing the precision and robustness of the control algorithm. Initially, the paper analyzes the control errors present when the vehicle responds to controller commands. Subsequently, the paper focuses on the steering angle errors in trajectory tracking, identifying and analyzing the most relevant factors. A time-delay neural network (TDNN) based on data-driven principles is designed to model and
Yang, Yijin, Yuan, Yin, Wang, Zhenfeng, Su, Ailin, Zhang, Zhijie, Lu, Yukun
From Prediction to Design: Using Context-Aware Graph Neural Networks and Explainable AI to Anticipate Transfer-of-Control2026-01-0049To be published on 04/07/2026
Drivers often interact with partial automation (SAE Level 2) systems, initiating transfer of control (TOC) either by handing control over to the automation or by taking it back. Accurately predicting these interactions may inform the design of future automation systems that adapt proactively to the operating context, enhance comfort, and ultimately may improve safety. We present a context-aware framework that generates a unified driver–vehicle–environment representation by fusing data from in-cabin video of the driver and of the forward roadway with vehicle kinematics, driver glance, and hands-on-wheel behaviors. This representation was encoded in a hierarchical Graph Neural Network that classified driver-initiated TOCs to: (i) Manual-to-automation and (ii) Automation-to-manual transitions and predicted time-to-TOC. Shapley-based explainable AI was used to quantify how the importance of behavioral, contextual, and kinematic cues evolved in the seconds preceding a TOC. Analysis of a
Zhao, Zhouqiao, Gershon, Pnina
Intersection Assist for Vehicle with Dual-Trailers using Nonlinear Model Predictive Control and Unscented Kalman Filter2026-01-0074To be published on 04/07/2026
This paper presents an approach utilizing Nonlinear Model Predictive Control (NMPC) and Unscented Kalman Filter (UKF) to predict system state and control the trajectory of the vehicle with dual trailers in an intersection turn scenario. The UKF estimates vehicle and trailers’ lateral traversal velocity states and the NMPC controls the vehicle acceleration and steering to maintain the vehicle’s desired heading through the turn. The vehicle’s lateral traversal velocity function is formulated using Lyapunov based method which is used as a propagation function in the UKF to improve the estimation accuracy. The lateral traversal velocity is then used as one of the constraints in the NMPC problem. The overall estimation and the control scheme are formulated and assessed in the simulation environment. The simulation results show good tracking and curb avoidance performance.
Malla, Rijan
Anti-Rollover Strategy for Six-Axis Semi-Trailer Based on Lateral Force Balance02-19-04-00242/24/2026
To address the rollover risk of six-axle semi-trailers due to their large mass, high center of gravity, and multi-axle articulation, a lateral force balance anti-rollover strategy based on the Ackermann steering principle is proposed. By establishing the wheel angle constraint equations for the full-wheel steering system of the six-axle semi-trailer, a rigid-body dynamic model considering the articulation characteristics is developed. The key control and observation parameters are included in the wheel angles, center of gravity lateral offset, yaw angular velocity, sideslip angle, and lateral load transfer rate. An SMC-PID joint controller is designed, in which the third axle steering angle of the tractor is optimized by the SMC controller, and the trailer’s three-axle steering angle tracking control is achieved by the PID controller. The nonlinear accumulation of centrifugal force and dynamic load transfer under high-speed emergency lane change conditions is suppressed by a
Zhang, Qiyuan, Zhang, Lei, Liao, Shengkun, Sun, Jinxu, He, Jing
Chinese Drivers’ Preference for In-Vehicle Information Display: Insights from a Large-Scale Online Survey12-09-03-00202/20/2026
Integrating intelligent and connected technologies in vehicles has significantly enriched the information environment for drivers, aiding them in making comprehensive driving decisions. However, inadequate information display may lead drivers to miss crucial information or increase their cognitive load, thereby affecting driving safety and user experience. It is essential to study drivers’ preferences for in-vehicle information display, the factors influencing these preferences, and to present information through appropriate modalities and carriers. Drawing on 695 valid questionnaire responses, this study investigates drivers’ preferences for recommendatory, explanatory, alerting, and warning information across three display modalities and six display carriers. A multivariate ordered probability model was further developed to examine the influence of user characteristics on these preferences. The results showed that drivers preferred visual cues over auditory ones, with a selection
He, Gang, Diao, Kai, Luo, Longfei, Xie, Bingjun, Zhong, Yixin, Qi, Jianping
Sensitivity Analysis toward Differential Braking as Backup Steering Functionality2026-01-50132/20/2026
This paper presents a novel sensitivity analysis framework for differential braking as a backup steering solution in fail-operational Steer-by-Wire systems. The fault-tolerant design approach of Steer-by-Wire and steering systems for highly automated driving relies on the availability of road wheel actuators (RWA). Redundancies are therefore commonly used to ensure fail-operationality. Since its widespread implementation in production vehicles through electronic stability control, the use of differential braking as a cost-effective measure is desirable to increase functional diversity. However, feasible lateral accelerations through this backup solution are limited compared to conventional steering systems and lie close to ordinary driving scenarios. To address this limitation, this work investigates the influence of chassis parameters on differential braking performance. After defining characteristic values and a simulation test plan, a preliminary analysis using a linear single-track
Salzwedel, Leon, Iatropoulos, Jannes, Heise, Cedric, Frohn, Christian, Henze, Roman
Four-Wheel Independent Steering Vehicle Control under Wheel-Corner Brake Faults10-10-04-00282/18/2026
Wheel-corner brake failures can significantly deteriorate vehicle stability and safety, since unbalanced braking forces may introduce an undesired yaw moment. This work investigates a fault-tolerant control strategy for Active Wheel-Corner Systems, exploiting Four-Wheel Independent Steering (4WIS) to mitigate such effects and preserve vehicle stability when brake actuator malfunctions occur. Unlike many existing approaches, the proposed framework does not require explicit fault detection or quantification as a prerequisite for corrective action, eliminating potential delays and uncertainties associated with fault-diagnosis schemes. A reference model for yaw rate and sideslip angle, incorporating combined longitudinal and lateral dynamics, is proposed, and a Weighted Pseudo-Inverse Control Allocation (WPCA) scheme is employed to distribute corrective actions among the four steering angles according to each tire’s capability, compensating for yaw moment imbalances caused by degraded
Sonnino, Samuel, Melzi, Stefano, Caresia, Pietro, Manzoni, Alessandro, Vaini, Gianluca
Steering Automation for Lane Keep Assistance2026-28-01172/12/2026
The design of advanced driver-assistance systems (ADAS) is essential to improve the safety and autonomy of rear wheel driven four-wheel vehicle in harsh conditions. This work introduces the design and development of a steering automation system for Lane Keep Assistance (LKA) in an rear wheel driven four-wheel vehicle with a parallel steering system. The system utilizes an ArduCam module to take real time images of the ground in front, and these are processed via machine learning techniques on a Raspberry Pi in order to identify lane edges with great precision. The corrective steering maneuvers are carried out by a motorized steering actuator based on the visual data after processing, and an encoder that is built into the actuator constantly tracks the steering angle and position. This closed-loop feedback affords accurate, real-time corrections to ensure lane discipline without driver intervention. Extensive calculations for steering effort, torque, and gear design confirm the system's
A R, Arundas, Sadique, Anwar, Rafeek, Aayisha
Intelligent Steering System to Improve Fuel Efficiency in Heavy Duty Vehicles2026-28-01032/12/2026
In commercial vehicles, conventional engine-driven hydraulic steering systems result in continuous energy consumption, contributing to parasitic losses and reduced overall powertrain efficiency. This study introduces an Electric Powered Hydraulic Steering (EPHS) system that decouples steering actuation from the engine and operates only on demand, thereby optimizing energy usage. Field trials conducted under loaded conditions demonstrated a 3–6% improvement in fuel economy, confirming the system’s effectiveness in real-world applications. A MATLAB-based simulation model was developed to replicate dynamic steering loads and vehicle operating conditions, with results closely aligning with field data, thereby validating the model’s predictive accuracy. The reduction in fuel consumption directly translates to lower CO₂ emissions, supporting regulatory compliance and sustainability goals, particularly in the context of tightening emission norms for commercial fleets. These findings position
T, Aravind Muthu Suthan, Mani, Kishore, Ayyappan, Rakshna, D, Senthil Kumar, S, Mathankumar
Systematic Approach to Attenuate NVH Issues in Hydraulic Steering Gear2026-28-00652/12/2026
In commercial vehicles, Hydraulic Power Assisted Steering (HPAS) gear plays a crucial role in enhancing steering performance by providing hydraulic assistance. The HPAS gear comprises a Directional Control Valve (DCV) assembly, where the input shaft and recirculation units are integrated. The valve system which is known for the heart of the HPAS gear, operates under high-pressure conditions. In the DCV, the input shaft is equipped with bearings to support side loads exerted by the system, and a valve component is freely assembled to minimize friction caused by these side loads. The complexity of the floating valve design results in the less slot volume, leading to cavitation and vibrational noise. While this noise is typically suppressed in internal combustion (IC) engine-powered vehicles, its implementation in electric vehicles (EVs) has led to pronounced audible noise, dominating the system. Experimental vibration analysis of the steering gear reveals both low and high-frequency
Vijayenthran, Praveen, Ayyappan, Rakshna, D, Senthil Kumar, N, Prabhakar
A Study in System Design and Plumbing Selection Impacts no Steering System Noise in Medium- and Heavy-Duty Commercial Vehicle Hydraulic Steering Systems02-19-04-00222/5/2026
This study investigates noise, vibration, and harshness (NVH) characteristics of hydraulic steering systems in medium- and heavy-duty commercial vehicles due to hydraulic system design. Utilizing on-vehicle and lab environment testing, primarily a pressure sweep test and speed sweep test, to identify sources of NVH. Testing demonstrated a significant impact to perceptible noise and vibration through changes to system and component design. NVH mitigation is accomplished by reducing pressure pulsations, cavitation, and turbulence within the fluid by changing hydraulic plumbing diameter. Reduction in sound pressure level (SPL) averaged 30% with peak reduction of 75%. While optimizing hose diameter is an effective method for controlling NVH in commercial vehicle hydraulic steering systems, additional studies should be conducted in optimizing plumbing materials and routing.
Bari, Praful Rajendra, Kintner, Jason
Improving Semi-Truck Torque Overlay Steering Systems to Boost On-Center Performance: Hardware Design Investigation02-19-02-00122/4/2026
In class 8 semi-trucks, the hydraulic steering gear and torque overlay system are critical components affecting the steering feel design and vehicle control. Transitioning from traditional hydraulic gears to hydraulic gears with torque overlay steering (TOS) systems for increased enhancement of driver comfort is beneficial but has also resulted in drawbacks for on-center steer feel, especially at high vehicle speeds (60+ km/h). This article evaluates the impact of three design mechanisms within hydraulic steering gears of a TOS system that have shown improvement in on-center performance for traditional hydraulic gears. The study compares a standard assembly of TOS, i.e., baseline, and a design-optimized ideal prototype, to evaluate the effectiveness of the three design mechanisms: valve curve performance, on-center friction, and torsion bar stiffness. The two samples underwent high-speed vehicle testing to gather driver feedback and assess potential enhancements to the on-center
Bari, Praful Rajendra, Chaudhuri, Nilankan
2026 Nissan Sentra review: putting the pieces together26AUTP02_162/1/2026
The Nissan Sentra has provided straightforward behavior and performance for sedan shoppers in the U.S. for over forty years. For 2026, Nissan took the solid 2025 model and made enough mechanical tweaks and visual changes to call it an all-new vehicle. This might sound like a bit of a stretch, but given how the advancements add up to an improved drive experience in a better-looking vehicle, we'll let it slide. Available in four grades - S, SV, SR and SL that range from $22,400 to $27,990, before destination fees and packages - the 2026 Sentra puts on airs like it's a simple vehicle, hiding some of its advanced technology to keep the interior clean and clear, from the driver's screen to the steering wheel buttons. Wireless device charging and wireless Apple CarPlay/Android Auto minimize wire clutter. The standard 12.3-in NissanConnect infotainment touchscreen hides its options in a selection of tiles, and it has a single round volume button that makes it easy to turn down quickly.
Blanco, Sebastian
PRODUCT BRIEFS26AUTP02_172/1/2026
Steering Control Systems - Heavy TrucksJ2425_202601 (Current)1/27/2026
This SAE Recommended Practice describes a laboratory test procedure and requirements for evaluating the characteristics of heavy-truck steering control systems under simulated driver impact conditions, as well as driver entry/egress conditions. The test procedure employs a torso-shaped body block that is impacted against the steering wheel.
Truck Crashworthiness Committee
Improve Safety Balance between Women and Men in Frontal Crashes through Parametric Human Modeling and Adaptive Design Optimization2025-22-00101/23/2026
Objective: Previous studies have reported disparity in injuries between male and female drivers in the risk of certain types of injuries in frontal crashes that may be due to a myriad of sex-related differences, including body size, shape, anatomy, or sitting posture. The objectives of this study are 1) to use mesh-morphing methods to generate a diverse set of human body models (HBMs) representing a wide range of body sizes and shapes for both sexes, 2) conduct population-based frontal crash simulations, and 3) explore adaptive restraint design strategies that may lead to enhanced safety for the whole population while mitigating potential differences in injury risks between male and female drivers Method: A total of 200 HBMs with a wide range of body sizes and shapes were generated by morphing the THUMS v4.1 midsize male model into geometries predicted by the statistical human geometry models. Ten male and ten female HBMs were selected for population-based simulations. An existing
Sun, Wenbo, Hu, Jingwen, Lin, Yang-Shen, Boyle, Kyle, Reed, Matthew, Sun, Zhaonan, Hallman, Jason
Curvature-Continuous Trajectory Refinement for Autonomous Vehicles Using a Pure Pursuit Based Path Smoothing Framework2026-26-01351/16/2026
Path planning is a key element of autonomous vehicle navigation, allowing vehicles to calculate feasible paths in challenging environments for applications like automated parking and low speed autonomous driving. Algorithms such as Hybrid A*, Reeds-Shepp, and Dubins paths are widely used and can generate collision-free paths but tend to create curvature discontinuities. These discontinuities result in sudden steering transitions, which create control instabilities, higher mechanical stress, and lower passenger comfort. To overcome these issues, this paper suggests a path-smoothing technique based on the pure-pursuit algorithm to produce smoothed curve paths appropriate for real-world driving. This method utilizes the practical approach of the original path, but removes sudden transitions that destabilize control. By ensuring smooth curvature, the vehicle undergoes fewer jerky steering actions, improved energy efficiency, less actuator wear, and improved high-speed tracking. This paper
S, Shriniyathi, A, Josana, Anto Edwin J, Joel, T, Akshayaa, M, Senthil Vel, Kumar, Vimal
A Study on the Thermal Degradation of Chlorinated Polyethylene Rubber2026-26-02761/16/2026
Elastomeric materials are essential in advanced automotive engineering for mobility, isolation, damping, fluid transfer (cooling, steering, fuel, and brake), and sealing because of their unique physio mechanical properties. Elastomers are commonly used in both static and dynamic components, such as hoses, mounts, bushes, and tires. Engine emission standards and weight optimization have caused higher temperature exposure conditions for automotive components. The steering system uses special purpose elastomers like Chlorinated Polyethylene that can deteriorate under abnormal conditions during vehicle operation or manufacturing process due to the high temperature exposure. Therefore, it is crucial to understand the causes and consequences of thermal degradation of elastomers. Thermal degradation is a significant phenomenon that changes the physiochemical properties of elastomers, which results in a product not meeting functional requirements. This study investigates the thermal
Thiruppathi, Anandhi, Mishra, Nitish, Krishnamoorthy, Kunju
Refinement of Road Induced Steering Wheel Vibration in Electric Vehicle2026-26-03371/16/2026
Nowadays, customers expect excellent cabin insulation and superior ride comfort in electric vehicles. OEMs focus on fine tuning the suspension system in electric vehicle to isolate the road induced shocks which finally offers superior ride quality. This paper focuses on enhancing the ride comfort by reducing the road excitation which originates mainly due to road inputs. Higher steering wheel vibration is perceived on the test vehicle on rough road surfaces. To determine the predominant force transfer path, Multi reference Transfer Path Analysis (MTPA) is performed on the front and rear suspension. Based on the finding from MTPA, various recommendations are explored and the effect of each modification is discussed. Apart from this, Operational Deflection Shape (ODS) analysis is used to determine the deflection shape on the entire steering system . Based on ODS findings, recommendations like dynamic stiffness improvements on the steering column and steering wheel are explored and the
S, Nataraja Moorthy, Rao, Manchi, Selvam, Ebinezer, Raghavendran, Prasath
Algorithm Development for AI Driven Path Planning Using Augmented Reality for Navigating in Indian Complex Road Scenarios2026-26-00381/16/2026
The road infrastructure in India has complex navigational challenges with most of the road unstructured especially in rural areas. Decision-making becomes a challenge for drivers in unpredictable environments such as narrow roads, flooded roads and heavy traffic. In this paper, an Augmented Reality based ML-Algorithm for Driver Assistance (ARMADA) has been proposed that improves awareness to safely maneuver in these conditions. The methodology for development and validation of this Augmented Reality (AR) based algorithm contains multiple steps. Firstly, extensive data collection is conducted using real time recording and benchmark datasets like Berkeley Deep Drive (BDD) and Indian Driving Dataset (IDD). Secondly, collected data are annotated and trained using an optimal machine learning (ML) model to accurately identify the complex scenario. In third step, an ARMADA algorithm is developed, integrating these models to estimate road widths, detect floods and provide seamless driver
Anandaraj, Prem Raj, Sivakumar, Vishnu, Thanikachalam, Ganesh, L, Radhakrishnan, Motoki, Yaginuma, Selvam, Dinesh Kumar
Novel Approach for Predicting Steering Rack Load Using Multi-Body Simulation2026-26-03781/16/2026
In the initial stages of a vehicle development program, the sizing of various components is a critical deliverable. The steering system, in particular, requires a precise estimation of the rack load for the appropriate sizing of the rack and assists units. Accurately predicting the load on the system during the early stages of development is challenging, especially in the absence of benchmark or legacy data. Commonly used processes for estimating parking steering effort often employ simplistic approaches that may fail to account for parameters such as tire size, vertical stiffness, and steering geometry, leading to reduced accuracy. This paper introduces an advanced methodology for predicting steering rack loads, which incorporates considerations such as contact patch size and pressure variation, as well as the tire jacking effect. The methodology involves mathematical modeling of the contact patch using mesh-grids, utilizing common inputs available in the early stages of vehicle
Shirke, Umesh, Dabholkar, Aniruddh, Bardia, Vivek, Srivastava, Harshit, Prasad, Tej Pratap
Sudden Loss of Steering Assist Simulation Methodology Development and Validation2026-26-00871/16/2026
The aim of this study is to develop a validated simulation method that accurately predicts vehicle behavior during a sudden loss of assist while cornering. The method also evaluates the steering effort required to return the vehicle to its intended path during failure scenarios, isolating the impact of uncertainties arising from driver performance. To illustrate the simulation methodology, the study involved testing various vehicles under conditions replicating sudden EPS assist loss during cornering. These tests captured the vehicle’s response, and the steering effort needed to correct its path. Different parameters affecting the vehicle behavior were studied and a validated method of simulation was developed.
Vishweshwara, Manasa, Vijay, Vishnu, Nunes, Ronaldo, Hubert, Robert
Path Planning and Control Strategies for a Semi-Autonomous Light Commercial Vehicle Navigating and Avoiding Static Obstacles in Urban Environments2026-26-01341/16/2026
This paper presents the design and implementation of a Semi-Autonomous Light Commercial Vehicle (LCV) capable of following a person while performing obstacle avoidance in urban and controlled environments. The LCV leverages its onboard 360-degree view camera, RTK-GNSS, Ultrasonic sensors, and algorithms to independently navigate the environment, avoiding obstacles and maintaining a safe distance from the person it is following. The path planning algorithm described here generates a secondary lateral path originating from the primary driving path to navigate around static obstacles. A Behavior Planner is utilized to decide when to generate the path and avoid obstacles. The primary objective is to ensure safe navigation in environments where static obstacles are prevalent. The LCV's path tracking is achieved using a combination of Pure Pursuit and Proportional-Integral (PI) controllers. The Pure Pursuit controller is utilized as lateral control to follow the generated path, ensuring
Ayyappan, Vimal Raj, Dhanopia, Rashmi, Ali, Ashpak, N, Ragesh, Sato, Hiromitsu
Steering on-Center Feel and Yaw Response Enhancement through Optimization of System Level Characteristics2026-26-00821/16/2026
To export India based SUVs to European markets, change in steering position is required to suit vehicle driving condition. Ideally, RHD and LHD variants of the same vehicle should have similar levels of ride and handling performance parameters. However, due to various packaging constraints and regulations, there is a possibility of minor change in Hard-points of steering or suspension system which may lead to different behavior in terms of body roll and steering response. While cornering or double lane change maneuvers, difference in steering phase angles or steering stiffness or suspension hardpoints results in different roll behavior as well as understeer characteristics of the vehicle. The present study shows key parameters and optimization methodology to maintain same level of ride and handling performance in both RHD and LHD variants. Objective measurements and physical kinematics and compliance tests were carried out with various configurations of RHD and LHD variants to
Hussain, Inzamam Ul, Kamarthi, Ashwin, Rewale, Pratik, Nehal, S B, Rasal, Shraddhesh, Naidu, Kethireddi
Digital Rack Load Estimation Methodology to Optimize Motor Sizing for Electric Power Steering2026-26-03831/16/2026
Rack load estimation during the pre-design stages is critical for the calibration of steering systems, particularly in achieving the desired steering feel and optimizing assistance strategies in Electric Power Assisted Steering (EPAS). Conventional approaches often depend on physical vehicle testing or simplified empirical equations, which may be time-consuming or lacks the fidelity required for early-stage analysis. This paper presents a 1D simulation strategy to address limitations from conventional approaches. The proposed rack force estimation model is based on multi-physics analytical equations that calculate tire-road friction forces and the resulting moments about the steering axis, delivering a physics-based yet computationally efficient solution. The rack force estimation model is further extended into EPAS system model by incorporating Direct Current (DC) brushed motor model. The rack force estimation model is validated against physical test data which demonstrates a high
Adsul, Sourabh, Iqbal, Shoaib
Systematic Study to Understand and Resolve Brake Pull in Commercial Vehicles Using Simulation and Proving Ground Tests2026-26-00831/16/2026
In traditional commercial vehicles with leaf spring suspension and Recirculating Ball Joint (RCBT) steering systems often experience undesirable pulling due to unsymmetrical steering mechanism during braking, especially when the suspension and steering hardpoints are not properly tuned. This work analyzes the mechanisms responsible for pulling tendencies, primarily addressing brake steer and bump steer, which occur due to misalignments in the suspension and steering geometries. Brake steer occurs when braking forces create an imbalance in torque, resulting in the vehicle deviating to one side. On the other hand, bump steer refers to the unwanted changes in the wheel alignment when the suspension undergoes travel, leading to instability or unintended steering input. These two phenomena, if not controlled, can result in undesirable vehicle handling, especially under heavy braking conditions. This work focuses on evaluating these mechanisms and suggests strategies for minimizing their
Pandhare, Vinay Ramakant, M, Anantha Padmnabhan, Nizampatnam, Balaramakrishna, Londhe, Abhijit, Doundkar, Vikas
Comprehensive Analysis and Mitigation Strategies to Minimize Torque Steer Phenomenon for FWD Vehicles during the Vehicle Development2026-26-00971/16/2026
Born Electric SUVs is gaining immense popularity due to enhanced ride and handling characteristics, advanced tech features elevating both performance and customer experience to an elite standard. Due to the platform constraints, the vehicle adopts a Front Wheel Drive (FWD) layout with a rear twist beam configuration, housing the electric motor at the front to deliver drive torque directly to the front wheels. Torque steer is a phenomenon often found in FWD cars, which is unsettling to driver where the steering wheel could be pulled hard to one side when there is aggressive throttle input potentially leading to deviation of the vehicle from its desired path. In contrast to internal combustion engines (ICEs), electric motors provide an instantaneous torque, something that can worsen torque steer if not well addressed. However, torque steer remains a key concern, with high torque output of electric motors especially for a front wheel drive vehicle. This paper introduces a methodology to
Prabhakara Rao, Vageesh, Wankhade, Krishna, Thakur, Pragyesh, Rasal, Shraddhesh, Asthana, Shivam
Parametric Evaluation of Rolling Resistance in Bias & Radial Tyres and Influence of Key Operational Parameters under Varying Conditions2026-26-06061/16/2026
Tyre rolling resistance is a fundamental parameter in automotive engineering, directly impacting vehicle fuel efficiency and overall performance. The Rolling Resistance Coefficient (RRC) is influenced by tyre construction, material properties, and operational conditions such as inflation pressure, vehicle speed, ambient temperature, and road surface roughness. This study investigates the influence of critical parameters—including test speed, inflation pressure, temperature on the rolling resistance of tyres of various sizes. While previous research has predominantly focused on radial tyres, this paper extends the analysis to include bias-ply tyres. The findings aim to offer valuable insights for policymakers and researchers by examining the behavior of bias tyres under real-world conditions. The results will be particularly beneficial for vehicle and steering system designers, offering data-driven insights to support future tyre and vehicle development. Additionally, the study presents
Joshi, Amol, Belavadi Venkataramaiah, Shamsundara, Khairatkar, Vyankatesh
Unique Methodology to Cluster and Reuse the “Hazard Analysis and Risk Assessment” for Different Electrical/Electronic Systems of an Automobile2026-26-00041/16/2026
Modern automotive systems are becoming increasingly complex, comprising tightly integrated hardware and software components with varying safety implications. As the demand for ISO 26262 compliance grows, performing efficient and consistent Hazard Analysis and Risk Assessment (HARA) across these layers presents both methodological and practical challenges. Traditional approaches often involve performing HARA for an item (where item maybe a system or a combination of systems), which can lead to update of HARA for every new feature addition in an item, which in turn may lead to analysis of same functions in multiple HARAs leading to inconsistent risk categorization, redundancy, or even conflicting safety goals. Therefore, this paper proposes a unique HARA methodology which consolidates the list of functions from various systems and performs the HARA for the grouped functions (hereby referred to as Cluster HARAs). For example, Electrical power steering, Electric pump powered hydraulic
Somasundaram, Manickam, Vijayakumar, Melvin
Advance Techniques to Optimize Variable Gear Ratio Steering for High Centre of Gravity Vehicles2026-26-00861/16/2026
Vehicles with a high center of gravity (CG) and moderate wheel track, like compact Sport Utility Vehicles (SUVs), have a relatively low Static Stability Factor (SSF) and thus are inherently less stable and more susceptible to rollover crashes. Moreover, to be more maneuverable in highly populated urban areas, a smaller Turning Circle Diameter (TCD) is necessary. Here, Variable Gear Ratio (VGR) steering systems have major benefits over traditional Constant Gear Ratio (CGR) systems in terms of enhancing both roll stability and agility. To adapt VGR steering systems to a particular vehicle dynamic, Full Vehicle (FV) and Driver-in-the-Loop (DIL) simulations are utilized. Using this method, exact calibration is possible according to realistic driving conditions so that the VGR steering C-factor curve is properly tuned for optimal handling in on-center, off-centre, and transitional areas of the Steering Wheel Angle (SWA). Primary performance measures—e.g., SWA gradients at different lateral
Rewale, Pratik, Kopiec, Jakub, Kumar, Deva, Rasal, Shraddhesh, Hussain, Inzamam, Nehal, S B
A Scientific Approach to Identify the Source of Intermittent Steering Rattle Noise and Implementing the Design Solutions2026-26-03461/16/2026
Body-on-frame vehicles are well-regarded for their durability and off-road capabilities, but their structural design often makes them more vulnerable to noise, vibration, and harshness (NVH) issues. Vibrations originating from uneven roads are transmitted through the suspension and steering assemblies, sometimes resulting in rattles or other disturbances. These vibrations can be amplified by the inherent flexibility in the body-to-frame mounting system. In such vehicles, the steering system plays a critical role in driver comfort and is highly sensitive to vibrational inputs from the road surface, especially on coarse or uneven terrain. Occasionally, these inputs result in subtle rattle noises that are perceptible only to the driver and may not be detected under controlled testing environments. This poses a challenge for engineers trying to isolate and resolve such intermittent NVH phenomena. Identifying the source requires a combination of real-world driving evaluations, structural
Ramesh Chand, Karan Kumar, Gopinathan, Haridoss, Kabdal, Amit
Methodology for Optimizing the Bench Testing of Steering I-Shaft Using Vehicle Level Data to Reduce Overall Product Development Time and Cost2026-26-05601/16/2026
Steering I-shaft with rubber coupling (or hardy disc) is an important part of complete steering system mainly in body on frame (BOF) vehicles. Hardy discs are used to dampen the vibrations that transmit to steering wheel through frame, steering gear and I-shaft. They also support to accommodate the variation between frame and BIW (Body in white) of body on frame vehicles. They are made up of rubber or other polymer composites, which have less torsional stiffness as compared to metals. The overall torsional stiffness of steering system reduces since the hardy disc is used in series in steering system, that impacts on the overall performance of steering system. So, during development of I shafts with different design, stiffness of hardy discs are used to optimize the steering and NVH performance of vehicle. Considering the development time and cost, each design of I-shaft cannot be validated at vehicle level. The torsional and axial force or displacement of hardy disc is measured at
Kabdal, Amit
Investigation of Fatigue Failure Mechanisms in High-Pressure Hydraulic Pipes of Power Steering Systems2026-26-05421/16/2026
The high-pressure steering hose in a hydraulic steering system carries pressurized hydraulic fluid from the power steering pump to the steering gear (or steering rack). Its main function is to transmit the force generated by the pump so that the hydraulic pressure assists the driver in turning the wheels more easily. The high-pressure hydraulic pipeline in the power steering system is a vital component for ensuring optimal performance. During warranty analysis, leakage incidents were observed at the customer end within the warranty period. The primary factors contributing to these failures include pipe material thickness, material composition, mechanical properties, and engine-induced vibrations. This study investigates fatigue-related failures through detailed material characterization and Computer-Aided Engineering (CAE) based on real world usage road load data collected. The objective is to identify the root causes by examining the influence of varying pipe thickness on fatigue life
Survade, Lalit, Koulage, Dasharath Baliram, Biswas, Kaushik
Low-Speed Steering Returnability Analysis and Improvements through Mathematical Modeling and CAE Simulation for SUV2026-26-05731/16/2026
In driving, steering serves as the input mechanism to control the vehicle's direction. The driver adjusts the steering input to guide the vehicle along the desired path. During manoeuvres such as parking or U-turns, the steering wheel is often turned fully from lock to lock and then released. It is expected that the steering wheel quickly returns to its original position. Steering returnability is defined as the ratio of the difference between the steering wheel position at lock to lock and the steering wheel angle after 3 seconds of release, to the steering wheel angle at the lock position, under steady-state cornering conditions at 10 km/h. Industry standards dictate that the steering system should achieve 75% returnability under these conditions within 3 seconds. Achieving proper steering returnability characteristics is a critical aspect of vehicle design. Vehicles equipped with Electric Power-Assisted Steering (EPS) systems can more easily meet returnability targets since the
Singh, Ram Krishnan, ahire, Manoj, JAIN, PRIYA, Vellandi, Vikraman, SUNDARAM, RAGHUPATHI, Paua, Ketan
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