Viability of Differential Braking Based Steering Redundancy for an Autonomous Vehicle

Dorukhan Tokay; Volkan Bekir Yangın; Özgen Akalın

doi:10.1007/978-3-031-66968-2_50

Viability of Differential Braking Based Steering Redundancy for an Autonomous Vehicle

Dorukhan Tokay, Volkan Bekir Yangın, Özgen Akalın^*

^*Corresponding author for this work

Department of Mechanical Engineering

Istanbul Technical University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Increasing demand for autonomous vehicles results in ever increasing research and development on safety-critical systems. This paper takes on the idea of using differential braking as a redundant steering system. The performance of the proposed method is tested using double lane change maneuvers. Two PID controllers are utilized to minimize the error between reference lateral position, yaw angle and system outputs. “Constant Velocity Offset Plus Sine Lane Change” model is used to obtain the reference trajectories. Gains of the controllers are tuned by using “Particle Swarm Optimization” method. High-fidelity multi-body vehicle dynamics simulations are performed in ADAMS Car and the controller is set up in Simulink environment, resulting in a co-simulation scheme. The simulated results are presented for two scenarios with one high and one low speed cases. The effects of front wheel scrub radius on the success of differential braking are also discussed in detail. This study may shed light on the development of new redundant steering systems for self-driving vehicles.

Original language	English
Title of host publication	Advances in Dynamics of Vehicles on Roads and Tracks III - Proceedings of the 28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023, Road Vehicles
Editors	Wei Huang, Mehdi Ahmadian
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	511-520
Number of pages	10
ISBN (Print)	9783031669675
DOIs	https://doi.org/10.1007/978-3-031-66968-2_50
Publication status	Published - 2024
Event	28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023 - Ottawa, Canada Duration: 21 Aug 2023 → 25 Aug 2023

Publication series

Name	Lecture Notes in Mechanical Engineering
ISSN (Print)	2195-4356
ISSN (Electronic)	2195-4364

Conference

Conference	28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023
Country/Territory	Canada
City	Ottawa
Period	21/08/23 → 25/08/23

Bibliographical note

Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

Keywords

Differential braking
Double-lane change
Redundancy

Access to Document

10.1007/978-3-031-66968-2_50

Cite this

Tokay, D., Yangın, V. B., & Akalın, Ö. (2024). Viability of Differential Braking Based Steering Redundancy for an Autonomous Vehicle. In W. Huang, & M. Ahmadian (Eds.), Advances in Dynamics of Vehicles on Roads and Tracks III - Proceedings of the 28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023, Road Vehicles (pp. 511-520). (Lecture Notes in Mechanical Engineering). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-031-66968-2_50

Tokay, Dorukhan ; Yangın, Volkan Bekir ; Akalın, Özgen. / Viability of Differential Braking Based Steering Redundancy for an Autonomous Vehicle. Advances in Dynamics of Vehicles on Roads and Tracks III - Proceedings of the 28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023, Road Vehicles. editor / Wei Huang ; Mehdi Ahmadian. Springer Science and Business Media Deutschland GmbH, 2024. pp. 511-520 (Lecture Notes in Mechanical Engineering).

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abstract = "Increasing demand for autonomous vehicles results in ever increasing research and development on safety-critical systems. This paper takes on the idea of using differential braking as a redundant steering system. The performance of the proposed method is tested using double lane change maneuvers. Two PID controllers are utilized to minimize the error between reference lateral position, yaw angle and system outputs. “Constant Velocity Offset Plus Sine Lane Change” model is used to obtain the reference trajectories. Gains of the controllers are tuned by using “Particle Swarm Optimization” method. High-fidelity multi-body vehicle dynamics simulations are performed in ADAMS Car and the controller is set up in Simulink environment, resulting in a co-simulation scheme. The simulated results are presented for two scenarios with one high and one low speed cases. The effects of front wheel scrub radius on the success of differential braking are also discussed in detail. This study may shed light on the development of new redundant steering systems for self-driving vehicles.",

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author = "Dorukhan Tokay and Yangın, {Volkan Bekir} and {\"O}zgen Akalın",

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Tokay, D, Yangın, VB & Akalın, Ö 2024, Viability of Differential Braking Based Steering Redundancy for an Autonomous Vehicle. in W Huang & M Ahmadian (eds), Advances in Dynamics of Vehicles on Roads and Tracks III - Proceedings of the 28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023, Road Vehicles. Lecture Notes in Mechanical Engineering, Springer Science and Business Media Deutschland GmbH, pp. 511-520, 28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023, Ottawa, Canada, 21/08/23. https://doi.org/10.1007/978-3-031-66968-2_50

Viability of Differential Braking Based Steering Redundancy for an Autonomous Vehicle. / Tokay, Dorukhan; Yangın, Volkan Bekir; Akalın, Özgen.
Advances in Dynamics of Vehicles on Roads and Tracks III - Proceedings of the 28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023, Road Vehicles. ed. / Wei Huang; Mehdi Ahmadian. Springer Science and Business Media Deutschland GmbH, 2024. p. 511-520 (Lecture Notes in Mechanical Engineering).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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PY - 2024

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N2 - Increasing demand for autonomous vehicles results in ever increasing research and development on safety-critical systems. This paper takes on the idea of using differential braking as a redundant steering system. The performance of the proposed method is tested using double lane change maneuvers. Two PID controllers are utilized to minimize the error between reference lateral position, yaw angle and system outputs. “Constant Velocity Offset Plus Sine Lane Change” model is used to obtain the reference trajectories. Gains of the controllers are tuned by using “Particle Swarm Optimization” method. High-fidelity multi-body vehicle dynamics simulations are performed in ADAMS Car and the controller is set up in Simulink environment, resulting in a co-simulation scheme. The simulated results are presented for two scenarios with one high and one low speed cases. The effects of front wheel scrub radius on the success of differential braking are also discussed in detail. This study may shed light on the development of new redundant steering systems for self-driving vehicles.

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ER -

Tokay D, Yangın VB, Akalın Ö. Viability of Differential Braking Based Steering Redundancy for an Autonomous Vehicle. In Huang W, Ahmadian M, editors, Advances in Dynamics of Vehicles on Roads and Tracks III - Proceedings of the 28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023, Road Vehicles. Springer Science and Business Media Deutschland GmbH. 2024. p. 511-520. (Lecture Notes in Mechanical Engineering). doi: 10.1007/978-3-031-66968-2_50

Viability of Differential Braking Based Steering Redundancy for an Autonomous Vehicle

Abstract

Publication series

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Bibliographical note

Keywords

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