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Steering redundancy for self-driving vehicles using differential braking
KTH, Skolan för teknikvetenskap (SCI), Farkost och flyg, Fordonsdynamik. Volvo Cars, Sweden.
2017 (Engelska)Ingår i: Advanced Vehicle Control AVEC’16 - Proceedings of the 13th International Symposium on Advanced Vehicle Control AVEC’16, CRC Press/Balkema , 2017, s. 23-30Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

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. A vehicle model is developed with differential brake and steering inputs. The model is used to explain the bounds of curvature that differential braking provides and it is then validated with measurements in a test vehicle. Particular focus is paid on wheel suspension effects that significantly influence the obtained curvature. Finally, a model based controller is developed to control the curvature by differential braking. The controller is designed to compensate for the wheel angle disturbance that is introduced as a result of the control event.

Ort, förlag, år, upplaga, sidor
CRC Press/Balkema , 2017. s. 23-30
Nyckelord [en]
Advanced vehicle control systems, Automobile steering equipment, Control system synthesis, Controllers, Magnetic levitation vehicles, Steering, Vehicles, Wheels, Differential brakes, Differential braking, Model-based controller, Operational control, Self drivings, Test vehicle, Vehicle model, Wheel suspensions, Braking
Nationell ämneskategori
Farkostteknik
Identifikatorer
URN: urn:nbn:se:kth:diva-207407Scopus ID: 2-s2.0-85017028934ISBN: 9781315265285 (tryckt)OAI: oai:DiVA.org:kth-207407DiVA, id: diva2:1103664
Konferens
13th International Symposium on Advanced Vehicle Control, AVEC 2016, 13 September 2016 through 16 September 2016
Anmärkning

QC 20170530

Tillgänglig från: 2017-05-30 Skapad: 2017-05-30 Senast uppdaterad: 2017-05-30Bibliografiskt granskad

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