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Limitations of Torque Vectoring As a Backup Safety Strategy for Steer-by-Wire Vehicles due to Vehicle Stability Control

[+] Author Affiliations
Ahmet Kirli, Chinedum E. Okwudire, A. Galip Ulsoy

University of Michigan, Ann Arbor, MI

Paper No. DSCC2017-5190, pp. V001T45A008; 6 pages
doi:10.1115/DSCC2017-5190
From:
  • ASME 2017 Dynamic Systems and Control Conference
  • Volume 1: Aerospace Applications; Advances in Control Design Methods; Bio Engineering Applications; Advances in Non-Linear Control; Adaptive and Intelligent Systems Control; Advances in Wind Energy Systems; Advances in Robotics; Assistive and Rehabilitation Robotics; Biomedical and Neural Systems Modeling, Diagnostics, and Control; Bio-Mechatronics and Physical Human Robot; Advanced Driver Assistance Systems and Autonomous Vehicles; Automotive Systems
  • Tysons, Virginia, USA, October 11–13, 2017
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5827-1
  • Copyright © 2017 by ASME

abstract

There is growing interest in steer-by-wire (SBW) systems because they provide significant benefits to classical vehicles, and are indispensable to autonomous vehicles. However, an emergency backup strategy is needed to steer a vehicle to safety if its SBW actuators fail completely. Differential drive assisted steering (DDAS), which uses torque vectoring to steer a vehicle, has been proposed as a backup strategy for SBW systems. However, vehicle stability control (VSC) — a required feature in most modern vehicles — also relies on torque vectoring. This paper demonstrates, for the first time, through simulations, that conflicts may arise between VSC and DDAS, rendering DDAS ineffective as a SBW system backup strategy. This preliminary study motivates the need to pay attention to, and develop strategies for addressing these conflicts. As an example, the addition of speed control to DDAS is shown as a potential strategy for mitigating these conflicts.

Copyright © 2017 by ASME
Topics: Torque , Stability , Safety , Wire , Vehicles

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