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Simulation of Vehicle Steering Control through Differential Braking  

Jang, Bong-Choon (School of Mechanical Engineering, Andong National University)
Yun, Yeo-Heung (School of Mechanical Engineering, University of Cincinnat)
Lee, Seong-Cheol (School of Mechanical Engineering, Chonbuk National University)
Publication Information
International Journal of Precision Engineering and Manufacturing / v.5, no.3, 2004 , pp. 26-34 More about this Journal
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 control was 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 was used to control lateral position in an unintended road departure system. A 8-DOF nonlinear vehicle model including STI tire model was validated using the equations of motion of the vehicle. Then a controller was developed. This controller, which is a PID controller tuned by Ziegler-Nichols, is designed to explore BSS feasibility by modifying the brake distribution through the control of the yaw rate of the vehicle.
Keywords
ITS (Intelligent Transportation System); Steer Intervention; Differential braking Nomenclature;
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