  The validity of the subjective evaluation of steering feedback in driving
simulators is crucial for modern vehicle development. Although there are
established objective steering characteristics for the assessment of both
stationary and dynamic feedback behaviour, factors such as steering wheel
vibrations and vehicle body motion, particularly in high-frequency ranges,
present challenges in simulator fidelity. This work investigates the influence
of steering wheel vibration and vehicle body motion frequency content on the
subjective evaluation of steering feedback during closed-loop driving in a
dynamic driving simulator. A controlled subject study with 30 participants
consisting of a back-to-back comparison of a reference vehicle with an
electrical power steering system and three variants of its virtual
representation on a dynamic driving simulator was performed. Subjective
evaluation focused on the representation of road feedback in comparison to the
reference vehicle. The statistical analysis of subjective results show that
there is a significant influence of the frequency content of both steering
wheel torque and vehicle motion on the subjective evaluation of steering
feedback in a dynamic driving simulator. The results suggest an influence of
frequency content on the subjective evaluation quality of steering feedback
characteristics that are not associated with the dynamic feedback behaviour in
the context of established performance indicators.
