Research on Steering Mode Switching for Autonomous Vehicles | Wuhan University Journal of Natural Sciences

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Table 1

System model parameters and meanings

Parameter	Meaning	Parameter	Meaning	Parameter	Meaning
$J_{s}$	Steering wheel moment of inertia	$B_{s}$	Damping coefficient of steering wheel	$θ_{s}$	Steering wheel angle
$K_{s}$	Stiffness coefficient of torque sensor	$T_{s}$	Torque sensor torque	$T_{d}$	Steering wheel input torque
$θ_{c}$	Steering column output shaft angle	$J_{m}$	Motor moment of inertia	$B_{m}$	Motor damping coefficient
$θ_{m}$	Motor angle	$T_{m}$	The assist torque of the motor	$T_{a}$	Assist the motor in outputting torque
$G$	Transmission ratio of motor reduction mechanism	$K_{m}$	Motor stiffness coefficient	$K_{t}$	Electromagnetic torque coefficient of motor
$r$	Small gear radius	$m_{r}$	Equivalent mass of gear rack	$b_{r}$	Gear damping coefficient
$X_{r}$	Equivalent displacement of gear rack	$F_{r}$	The rack load force generated by the interaction between the road surface and the tires

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