Modeling and Development of a Pseudo-Hydraulic Steering Model for use in Real-Time Applications

This document explores the modelling and development of a computationally efficient pseudo-hydraulic power steering system for use in real-time Driver-in-the-Loop (DiL) simulation environments using Dymola, Modelica, and the VeSyMA vehicle modelling framework.

The research focuses on recreating realistic steering feel and torque feedback behaviour by combining high-fidelity multibody vehicle dynamics, non-linear tyre models, friction modelling, and a simplified pseudo-hydraulic assistance model that captures key hydraulic steering dynamics without the computational expense of fully physical hydraulic system simulation. Using objective steering feel metrics derived from physical vehicle testing and hysteresis analysis, the study evaluates steering response, torque deadband, yaw response, and driver feedback characteristics during both on-centre and off-centre driving conditions. The work demonstrates how real-time capable steering models can improve driver immersion, vehicle handling assessment, and control system development within DiL simulation platforms while maintaining smooth and stable real-time performance.