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TECHNICAL PAPERS

Vehicle Steering Intervention Through Differential Braking

[+] Author and Article Information
Tom Pilutti

Ford Research Laboratories, Dearborn, MI 48121-2053

Galip Ulsoy

Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109-2125

Davor Hrovat

Ford Research Laboratories, Dearborn, MI

J. Dyn. Sys., Meas., Control 120(3), 314-321 (Sep 01, 1998) (8 pages) doi:10.1115/1.2805402 History: Received October 03, 1994; Online December 03, 2007

Abstract

This paper examines the usefulness of a brake steer system (BSS) which uses differential brake forces for steering intervention in the context of Intelligent Transportation Systems. The resulting moment on the vehicle affects yaw rate and lateral position, thereby providing a limited steering function. The steering function achieved through BSS can then be used to control lateral position in an unintended road departure system. Control design models for the vehicle and the brake system are presented. A state feedback regulator and PID controller are developed to explore BSS feasibility and capability. Computer simulation results, using a nonlinear seven degree-of-freedom vehicle model are included, and show the feasibility and limitations of BSS.

Copyright © 1998 by The American Society of Mechanical Engineers
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