超市标识Steering redundancy for lf-driving vehicles using
dress用法
differential braking
期刊名称： Vehicle System Dynamics
作者： M. Jonasson,M. Thor
阿拉哈巴德
年份： 2017年
期号： 第11期
关键词： differential braking;vehicle control;autonomous vehicles;redundant
steering;scrub radius
买蔬菜
摘要：This paper describes how differential braking can be ud to turn a vehicle in the context of providing fail-operational control for lf-driving vehicles. Two vehicle models are developed with differential input. The models are ud to explain the bounds of curvature that differential braking provi
des 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-bad 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.
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