Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • 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
  • rtf
Steering redundancy for self-driving vehicles using differential braking
KTH, School of Engineering Sciences (SCI), Aeronautical and Vehicle Engineering. Volvo Cars, Act Safety & Vehicle Dynam Funct, Gothenburg, Sweden.
KTH, School of Engineering Sciences (SCI), Aeronautical and Vehicle Engineering.
2018 (English)In: Vehicle System Dynamics, ISSN 0042-3114, E-ISSN 1744-5159, Vol. 56, no 5, p. 791-809Article in journal (Refereed) Published
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. 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.

Place, publisher, year, edition, pages
TAYLOR & FRANCIS LTD , 2018. Vol. 56, no 5, p. 791-809
Keyword [en]
differential braking, vehicle control, autonomous vehicles, redundant steering, scrub radius
National Category
Mechanical Engineering
Identifiers
URN: urn:nbn:se:kth:diva-225223DOI: 10.1080/00423114.2017.1356929ISI: 000427769200008Scopus ID: 2-s2.0-85028565912OAI: oai:DiVA.org:kth-225223DiVA, id: diva2:1194972
Conference
13th International Symposium on Advanced Vehicle Control (AVEC), SEP 13-16, 2016, Munich Univ Appl Sci, Munich, GERMANY
Note

QC 20180404

Available from: 2018-04-04 Created: 2018-04-04 Last updated: 2018-04-11Bibliographically approved

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full textScopus

Search in DiVA

By author/editor
Jonasson, M.Thor, M.
By organisation
Aeronautical and Vehicle Engineering
In the same journal
Vehicle System Dynamics
Mechanical Engineering

Search outside of DiVA

GoogleGoogle Scholar

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 5 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • 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
  • rtf