A Fallback Approach for In-Lane Stop on Curved Roads Using Differential Braking

Abstract

Due to the importance of safety in the development of Automated Driving Systems (ADS), research is ongoing on fallback functions for ADS. Scenarios involving steering actuator failures during curved road driving are particularly dangerous, with limited available fallback options. This paper proposes a method for achieving a safer in-lane stop using differential braking when steering actuator failure occurs. Lateral motion is induced by the difference in longitudinal forces between the left and right sides, facilitating an in-lane stop maneuver. The vehicle’s lateral behavior under differential braking and changes in front-wheel steering angle are modeled. A model-based estimator using a Kalman filter estimates the vehicle’s state and steering angle. Based on these estimations and lane information, a controller employing a linear quadratic regulator (LQR) is developed. The effectiveness of the differential braking in-lane stop system is validated through simulation.