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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Steering redundancy for self-driving vehicles using differential braking


    Contributors:
    Jonasson, M. (author) / Thor, M. (author)

    Published in:

    Vehicle System Dynamics ; 56 , 5 ; 791-809


    Publication date :

    2018-05-04


    Size :

    19 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Viability of Differential Braking Based Steering Redundancy for an Autonomous Vehicle

    Tokay, Dorukhan / Yangın, Volkan Bekir / Akalın, Özgen | Springer Verlag | 2024


    Simulative Assessment of Differential Braking for Steering Redundancy in Automated Driven Trucks

    Herold, M. / Said, O. / Winner, H. | British Library Conference Proceedings | 2018


    Braking/steering redundancy control method and system based on double-vector driving motor

    GAO JIABING / TAO XUELEI / CHEN YI et al. | European Patent Office | 2025

    Free access

    Driving braking decoupling and parking braking coupling drive-by-wire redundancy braking system

    JIAN HONGCHAO / GU HONGTAO / HU ZHENG et al. | European Patent Office | 2024

    Free access