Autonomous Evasive Steering with Differential Braking Backup

Every today's vehicle is equipped with four independent brakes. When well-coordinated, these brakes can decelerate the vehicle and at the same time help control its yaw rate. This paper focuses on the use of this feature as a backup for autonomous evasive steering in severe situations. Today, differential braking is managed independently and activated separately from other systems. In our case, both autonomous steering and differential braking are activated. Results show that this can increase the potential of the vehicle to face more complex situations. The tools adopted in this paper remain valid for other types of system combinations.