Vehicle steering intervention through differential braking

This paper examines the usefulness of a brake steer system (BSS) which uses differential brake forces for steering intervention in the context of intelligent vehicle highway systems. The resulting moment on the vehicle affects yaw rate and lateral position, thereby providing a limited steering function. The steering function achieved through BSS can then be used to control lateral position in an unintended road departure system. Models for the vehicle and the brake system are presented. A state feedback regulator and PID controller are developed to explore BSS feasibility and capability. Computer simulation results are included