Tire-force modeling on a hub-mounted vehicle-in-the-loop dynamometer while performing lateral maneuvers

Document Type

Conference Proceeding

Publication Date



Department of Mechanical Engineering-Engineering Mechanics; Department of Electrical and Computer Engineering


The objective of this paper is to detail the design and development of a unique VIL dynamometer system for testing lateral and longitudinal control using simulated and/or recorded data. A floating hub design decouples the vehicle hub rotation while continuing to support the vehicle mass on the tires and suspension of the vehicle. Long travel CV-joints are used to enable full angular displacement/turning radius of the steering wheels and couple the drive axles to the absorbing dynamometer motors. The steering wheels are placed on three degree of freedom (3DOF) motion plates allowing for rotation and translation during steering articulation. The reduced rotary mass and inertia of non-rotating tires however influences the tire-forces when performing lateral maneuvers. A common approach to this problem has been to attach a resisting actuator, like a chain drive, to the rotary base where the wheel is resting. Because additional degrees of freedom are introduced by the use of 3DOF motion plates, this approach is not suitable. To compensate for the lack of physical accuracy without introducing additional hardware to interfere with the wheel or rotary base, the modification of the performance curves directly associated with the electric power steering system is explored. Using experimentally obtained wheel forces, the power steering performance curve can be modified to a function of vehicle velocity. The vehicle's current velocity can be obtained via CAN from its On-Board-Diagnosis (OBD) system. Improving the physical accuracy of hub-mounted dynamometer systems during lateral maneuvers introduces a cost and space-efficient research platform for the development and testing of automated driving systems and automotive components.

Publication Title

Proceedings of SPIE - The International Society for Optical Engineering