Steer-by-Wire (SbW) system offers advantages for vehicle electrification and autonomous driving. To utilize SbW system, it is essential to prioritize safety and develop reliable backup systems. This paper introduces a backup system that employs longitudinal differential forces to address SbW system failures. When the SbW system malfunctions and cannot perform its intended function, the proposed system controls lateral motion instead. The proposed system achieves this control by utilizing the differential longitudinal forces between the left and right sides. The system model incorporates the lateral motion and wheel steering models to consider the effect of the differential longitudinal forces. Additionally, sensitivity analysis is conducted for the model representing the changes in the front wheel steering angle. As a result, the parameters are mapped with respect to the vehicle speed which has the most significant impact. A model-based state observer based on Kalman filter estimates the unobservable vehicle states. A controller based on a linear quadratic regulator is developed to accurately perform the steering motion of the vehicle according to the driver's intention. The proposed brake-actuated steering system is validated through simulations and real-world experiments. The results show that it enables the vehicle to perform critical operations, such as lane changes, when SbW fails.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    A Differential Brake-Actuated Steering System for Redundancy of Steer-by-Wire


    Contributors:
    Sung, Jihoon (author) / Choi, Seungwon (author) / Huh, Kunsoo (author)

    Published in:

    Publication date :

    2024-01-01


    Size :

    4588947 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    DEVICE FOR CONTROLLING STEER-BY-WIRE STEERING DEVICE HAVING REDUNDANCY FUNCTION

    NISHIKAWA AKIYOSHI / OKADA KOICHI / NAKAJIMA AKIO et al. | European Patent Office | 2019

    Free access

    Steer-By-Wire Steering System

    MARKFORT DIETER / WERDIN PHILIPP | European Patent Office | 2022

    Free access

    Steer-by-wire steering system

    YAMANO NAOKI / ITAMOTO HIDENORI | European Patent Office | 2020

    Free access

    STEER-BY-WIRE STEERING SYSTEM

    YAMANO NAOKI / ITAMOTO HIDENORI | European Patent Office | 2020

    Free access

    Steer-by-wire steering system

    MISTLER MAURICE | European Patent Office | 2022

    Free access