Citation

Jonasson M, Thor M. Veh. Syst. Dyn. 2018; 56(5): 791-809.

Copyright

(Copyright © 2018, Informa - Taylor and Francis Group)

DOI

10.1080/00423114.2017.1356929

PMID

unavailable

Abstract

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.

Language: en

Keywords

autonomous vehicles; differential braking; redundant steering; scrub radius; vehicle control