Partial Braking Control for Autonomous Vehicle Steering Malfunctions
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Solution Overview
Problem
During autonomous driving, a malfunctioning steering system can lead to unsafe vehicle stops, potentially causing collisions and obstructing traffic flow, especially for large trailer vehicles which may experience jackknife phenomena and invade adjacent lanes.
Innovation Solution
A system that includes a steering angle comparison device, partial braking induction determination device, and partial braking control device to safely guide the vehicle to a shoulder by applying controlled braking to specific tires based on the steering angle and road curvature, preventing lane changes on high curvature roads and maintaining stability on low curvature roads.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the vehicle rapidly stops within the traveling line when steering system malfunctions, then the autonomous driving control can be maintained, but the risk of rear-end collisions increases and traffic flow is obstructed
Solution Approach 1:
The braking system is segmented by applying braking force to only one specific wheel (left or right wheel) rather than all wheels simultaneously. This selective wheel braking creates a torque differential that enables the vehicle to rotate and move to the shoulder while maintaining autonomous control, thereby reducing rear-end collision risk.
Solution Approach 2:
The invention introduces an intermediary emergency stopping control system that acts as a mediator between the malfunctioning steering system and the vehicle's motion. This system uses differential wheel braking as an intermediate mechanism to achieve safe shoulder stopping, preventing direct rapid stopping in the traveling lane.
2Reliability
If large trailer vehicles perform sudden stop, then the steering system malfunction can be addressed, but jackknife phenomenon occurs and adjacent lanes are invaded
Solution Approach 1:
The braking force is applied locally to a specific wheel rather than uniformly to all wheels. This localized braking creates a controlled torque differential that enables gradual rotation and shoulder movement, maintaining trailer-tractor connection stability and preventing jackknife phenomenon during emergency stopping.
3Productivity
If the vehicle changes lane to shoulder during steering malfunction, then traffic flow obstruction is reduced, but the steering control precision is compromised
Solution Approach 1:
The invention replaces the malfunctioning mechanical steering system with an alternative braking-based control mechanism. By applying differential braking force to wheels, the system achieves rotational control and shoulder movement without relying on the defective steering components, thereby maintaining traffic flow efficiency.
Data Source
AI summary
A system for controlling stop of a vehicle includes a steering angle comparison device that detects a current steering angle of the vehicle and compares the detected current steering angle with a preset limit steering angle when a malfunction of a steering system in the vehicle is detected during autonomous driving, a partial braking induction determination device that determines a position of a tire of the vehicle to be subjected to partial braking for steering control of the vehicle according to a result of the comparing between the current steering angle and the limit steering angle, and a partial braking control device that determines an amount of braking to be applied to each determined tire of the vehicle and applies a braking pressure corresponding to the amount of braking to each tire of the vehicle to perform the steering control by the partial braking.