Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Simulation of Vehicle Steering Control through Differential Braking

차동 제동을 이용한 조향 제어 시뮬레이션

  • Published : 2002.11.01
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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 (ITS). In order to help the car to turn, a yaw moment can be achieved by altering the left/right and front/rear brake distribution. This resulting yaw moment on the vehicle affects 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. A 8-DOF nonlinear vehicle model including STI tire model will be validated using the equations of motion of the vehicle. Then a controller will be developed. This controller, which will be a PID controller tuned by Ziegler-Nichols, will be designed to explore BSS feasibility by modifying the brake distribution through the control of the yaw rate of the vehicle.

Keywords

References

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