Emergency mode of a redundant steering system and fuzzy transition to auxiliary control

Abstract

The subject of the application shown in the drawing is a redundant steering system failure mode and a fuzzy change to auxiliary control. A method for changing control of a vehicle component from a master controller to a slave controller includes, using one or more processors, detecting error occurrences associated with a first control signal generated using the master controller, determining error energy associated with the detected error occurrences, and obtaining an error energy accumulation signal based on the error energy, generating a second control signal using the slave controller, and controlling the vehicle component based on the first control signal, the second control signal, and the error energy accumulation signal.

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