Steering Redundancy for Self-Driving Vehicles using Differential Braking

Artikel i vetenskaplig tidskrift, 2017

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 devel-
oped 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 signicantly in uence the obtained
curvature. The vehicle behavior and its limitations due to wheel suspension effects are, owing
to the vehicle models, dened 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.