Fault Tolerant Steering Control for Four Wheel Drive Vehicles
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Solution Overview
Problem
Four-wheel drive vehicles face safety issues when steering system faults occur, as existing technologies only control turning direction and angle through braking, failing to maintain constant turning radius and structural stability.
Innovation Solution
A fault management apparatus and method for an independently controlled steering system that calculates turning center coordinates and adjusts steering angles and vehicle speed to ensure tangential lines converge on one point and maintain turning radius, using a control unit with a turning center coordinate calculating unit, speed calculating unit, and steering angle calculating unit.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If braking control is used to manage steering system faults, then turning direction and angle can be controlled, but turning radius cannot be maintained constant and structural stability deteriorates
Solution Approach 1:
The system changes multiple parameters simultaneously (steering angles of individual wheels and vehicle speed) to maintain constant turning radius. By adjusting the steering angles of front and rear wheels independently and modifying vehicle speed, the system ensures that tangential lines of all wheels converge on one point, preserving vehicle body stability during fault conditions.
Solution Approach 2:
The system dynamically adjusts steering angles and vehicle speed in real-time based on fault detection. The control unit continuously modifies steering angles of individual wheels and vehicle speed to maintain constant turning radius, transforming a static braking-based control into a dynamic multi-parameter control system that adapts to maintain structural stability.
2Ease of operation
If braking force is applied to control turning during steering faults, then direction control is achieved, but turning radius varies and cannot be kept constant
Solution Approach 1:
Instead of relying solely on braking force, the system changes steering angles of individual wheels and vehicle speed as control parameters. By independently adjusting front and rear wheel steering angles and modifying vehicle speed, the system maintains constant turning radius, achieving precise control over turning geometry during fault conditions.
3Reliability
If steering angles of all wheels are controlled independently during faults, then turning performance is maintained, but system complexity increases
Solution Approach 1:
The system segments the steering control into independent control of individual wheels. Each wheel's steering angle is controlled separately through its own steering system, allowing independent adjustment of front and rear wheels. This segmentation enables precise control of turning geometry by ensuring tangential lines converge on one point, maintaining turning performance despite faults in individual steering systems.
Data Source
AI summary
The present disclosure relates to fault management apparatus and method for an independently controlled steering system in a four wheel drive system. The apparatus includes: a steering system unit that is disposed at four wheels of a vehicle, controls steering of the wheels, and collects and transmits the state information of the wheels; and a control unit that controls the steering system unit in accordance with the state information transmitted from the steering system unit. According to the present disclosure, when there is a fault in one or more wheels of a four wheel drive vehicle, it is possible to stabilize the vehicle body by actively adjusting the steering angles of the wheels that normally work and the speed of the vehicle in accordance with the fault environment.