This paper describes how differential braking can be used to turn a vehicle in the context of providing fail-operational control for self-driving vehicles. Two vehicle models are developed with differential input. The models are used to explain the bounds of curvature that differential braking provides and they are then validated with measurements in a test vehicle. Particular focus is paid on wheel suspension effects that significantly influence the obtained curvature. The vehicle behaviour and its limitations due to wheel suspension effects are, owing to the vehicle models, defined and explained. Finally, a model-based controller is developed to control the vehicle curvature during a fault by differential braking. The controller is designed to compensate for wheel angle disturbance that is likely to occur during the control event.
Steering redundancy for self-driving vehicles using differential braking
Vehicle System Dynamics ; 56 , 5 ; 791-809
2018-05-04
19 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Self-driving automobile multi-redundancy braking system, self-checking method and automobile
Europäisches Patentamt | 2024
|Controller Redundancy system and method of self-driving vehicles
Europäisches Patentamt | 2023
|All-wheel driving, Braking and Steering
Engineering Index Backfile | 1924
|Europäisches Patentamt | 2022
|