Road Friction Adaptive Lateral Control of Automated Vehicles with Differential Braking

Differential braking offers a promising approach to ensure lateral control of automated vehicles in the event of steering actuator failure. Braking interventions induce longitudinal forces on the wheel, which influence the vehicle’s yaw motion and thus enable lateral control along a given trajectory. Within the scope of this paper, a road friction adaptive system for lateral vehicle control by differential braking on a dry, wet, snow- and ice-covered road is derived simulatively. The investigated friction coefficient adaption is implemented by a variable path planning and calculated on the basis of an estimated road friction coefficient. The driving situation considered is based on the severe lane-change maneuver according to ISO 3888-2 for the investigation of vehicle dynamics and road-holding ability. The limitation of the trajectory results from the maximum yaw rate and expands the trajectory’s length for the different road friction coefficients.