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
Article (Journal)
Electronic Resource
English
Viability of Differential Braking Based Steering Redundancy for an Autonomous Vehicle
Springer Verlag | 2024
|Simulative Assessment of Differential Braking for Steering Redundancy in Automated Driven Trucks
British Library Conference Proceedings | 2018
|Braking/steering redundancy control method and system based on double-vector driving motor
European Patent Office | 2025
|Driving braking decoupling and parking braking coupling drive-by-wire redundancy braking system
European Patent Office | 2024
|Self-driving automobile multi-redundancy braking system, self-checking method and automobile
European Patent Office | 2024
|