Autonomous Vehicle Steering and Braking Redundancy for Fault Isolation
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Solution Overview
Problem
Autonomous motor vehicles require a control system for steering and braking that ensures high reliability and safety, particularly by detecting and mitigating actuator malfunctions, while existing systems are dependent on the correct operation of programmable logic components and lack redundancy in power supply.
Innovation Solution
A control device with dual redundant control chains, each comprising a controller, actuator, and sensors, connected through distinct communication buses, with an operation module to detect and interrupt faulty components, and independent power sources to prevent common failure modes, allowing for automatic switching between primary and secondary control chains in case of malfunctions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If redundant control chains are implemented, then reliability is improved, but device complexity increases
Solution Approach 1:
The control system is divided into two independent control chains (first and second chains), each capable of autonomous operation. This segmentation allows the system to maintain functionality even when one chain fails, as the other chain can take over control without requiring complex inter-chain coordination mechanisms.
Solution Approach 2:
Each control chain is equipped with its own dedicated sensors, actuators, and processing units with identical functional capabilities. This local quality ensures that each chain can independently perform the complete control function, eliminating the need for complex failover logic and reducing overall system complexity while maintaining high reliability.
2Reliability
If distinct communication buses are used for each control chain, then reliability is improved, but device complexity increases
Solution Approach 1:
The communication architecture is segmented into two separate buses (first communication bus and second communication bus), each dedicated to a specific control chain. This segmentation prevents communication failures in one chain from affecting the other, achieving high reliability through physical isolation rather than complex error handling protocols.
3Reliability
If independent power sources are provided for each control chain, then reliability is improved, but device complexity increases
Solution Approach 1:
The power supply system is segmented into two independent sources (first power source and second power source), each exclusively powering one control chain. This segmentation ensures that power failures in one chain do not propagate to the other, achieving fault isolation through physical separation rather than complex power management logic.
4Reliability
If operation modules with logical operations are implemented, then reliability is improved, but device complexity increases
Solution Approach 1:
The control chains perform self-diagnosis through logical operations on failure signals generated by their own sensors and actuators. Each chain monitors its own status and can independently detect malfunctions without requiring complex external monitoring systems, achieving high reliability through self-service fault detection while minimizing additional control logic.
Data Source
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AI summary
The invention relates to a control device (4) for an autonomous motor vehicle (1) for modifying a steering angle of a steering wheel of the autonomous motor vehicle (1) and/or a braking force generated by braking means equipping a wheel of the autonomous motor vehicle (1), the control device (4) comprising an automatic piloting system (10), which is configured to generate an automatic driving instruction for the vehicle (1), a primary control chain (11), which includes a primary controller (12), configured to generate a primary command based on the automatic driving instruction, and at least one primary actuator (14), configured to generate a torque conferring a steering angle to the steering wheel or configured to actuate the braking means from the primary command directly obtained from the primary controller (12), and a secondary control chain (13).