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Steering redundancy for self-driving vehicles using differential braking
KTH, School of Engineering Sciences (SCI), Aeronautical and Vehicle Engineering, Vehicle Dynamics. Volvo Cars, Sweden.
2017 (English)In: Advanced Vehicle Control AVEC’16 - Proceedings of the 13th International Symposium on Advanced Vehicle Control AVEC’16, CRC Press/Balkema , 2017, 23-30 p.Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
CRC Press/Balkema , 2017. 23-30 p.
Keyword [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
National Category
Vehicle Engineering
Identifiers
URN: urn:nbn:se:kth:diva-207407Scopus ID: 2-s2.0-85017028934ISBN: 9781315265285 (print)OAI: oai:DiVA.org:kth-207407DiVA: diva2:1103664
Conference
13th International Symposium on Advanced Vehicle Control, AVEC 2016, 13 September 2016 through 16 September 2016
Note

QC 20170530

Available from: 2017-05-30 Created: 2017-05-30 Last updated: 2017-05-30Bibliographically approved

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Citation style
  • apa
  • harvard1
  • ieee
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  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
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