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This paper examines the usefulness of a brake steer system (BSS) which uses differential brake forces for steering intervention in the context of Intelligent Transportation 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. Control design 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, using a nonlinear seven degree-of-freedom vehicle model are included, and show the feasibility and limitations of BSS.

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This paper describes a dynamic model pasaeseing the key system components of a Range Extender Hybrid Electric Vehicle. The model is suitable for dynamic anal*, control law synthesis, and prototrpe simulation.