EPAS Fail-Safe Control using Differential Braking

One of the main systems for ground vehicles is the Electric Power Assisted Steering (EPAS). Due to its importance, a redundant system is usually implemented. This solution remain however expensive, especially for small urban cars. This paper proposes an alternative fail-safe control algorithm using this time differential braking. Controlling each brake apart generates a yaw moment enabling turning the vehicle. Optimal coordination is ensured due to the importance of this maneuver. Results show that differential braking, that already exist in most of passenger cars, is able to generate a sufficient additional yaw moment to help the driver steer his/her vehicle. This can reduce the space and the cost of the vehicle.