ABSTRACT
This paper describes how differential braking can be used to turn a vehicle in the context of providing fail-operational control for self-driving vehicles. A vehicle model is developed with differential brake and steering inputs. The model is used to explain the bounds of curvature that differential braking provides and it is then validated with measurements in a test vehicle. Particular focus is paid on wheel suspension effects that significantly influence the obtained curvature. Finally, a model based controller is developed to control the curvature by differential braking. The controller is designed to compensate for the wheel angle disturbance that is introduced as a result of the control event.
