Autonomous Evasive Steering with Differential Braking Backup

• Published in: 2020 20th International Conference on Control, Automation and Systems (ICCAS) pp. 1172 - 1176
• Main Authors: Kissai, Moad, Do, Anh-Lam, Mouton, Xavier, Monsuez, Bruno
• Format: Conference Proceeding
• Language: English
• Published: Institute of Control, Robotics, and Systems - ICROS 13.10.2020
• Subjects: Active Safety Systems; Advanced Driver Assistance Systems; Automobiles; Autonomous Evasive Steering; Brakes; Chassis Control; Control Allocation; Mathematical model; Over-actuation; Tires; Vehicle dynamics; Vehicles; Wheels

Every today's vehicle is equipped with four independent brakes. When well-coordinated, these brakes can decelerate the vehicle and at the same time help control its yaw rate. This paper focuses on the use of this feature as a backup for autonomous evasive steering in severe situations. Today, d...