Independent Steering Fault Compensation for Stable Turning Radius
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Solution Overview
Problem
In vehicles with independent steering systems, an abnormal steering system can cause a change in turning radius and transverse stress, compromising structural stability and safety, and conventional fail-safe controls are inadequate.
Innovation Solution
An independent steering control system that includes a fault determination processor to identify abnormal steering systems, a fault-level determination processor to assess the severity of the fault, and a fault tolerant steering processor to maintain the desired turning radius by adjusting the kinematic center and steering angles based on the Ackerman principle.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If independent steering systems are used to reduce turning radius, then productivity is improved, but reliability deteriorates when a fault occurs
Solution Approach 1:
The control unit performs preliminary fault detection and classification before the fault affects steering performance. By continuously monitoring steering systems and pre-classifying fault levels (complete unsteerable, partial unsteerable, normal), the system prepares compensatory control strategies in advance, ensuring reliable operation even when faults occur during independent steering maneuvers
Solution Approach 2:
The system dynamically changes control parameters (steering angles, kinematic center position) based on detected fault conditions. When a fault is detected in one independent steering system, the control unit modifies the steering parameters of remaining functional systems to compensate, maintaining the desired turning radius and vehicle trajectory despite the fault
2Reliability
If conventional fail-safe control is applied to independent steering systems, then reliability is improved, but device complexity increases
Solution Approach 1:
The control system is segmented into distinct functional modules: fault detection unit, fault-level determination unit, and compensatory control unit. This segmentation allows each module to perform its specific function independently, making the overall complex system manageable through modular design while maintaining comprehensive fail-safe coverage
Solution Approach 2:
The system implements continuous feedback loops where the control unit monitors steering system performance, detects faults, determines fault levels, and adjusts control commands in real-time. This closed-loop feedback mechanism provides reliable fail-safe control by automatically responding to faults without requiring complex manual intervention systems
3Reliability
If steering systems are monitored for faults, then reliability is improved, but measurement precision requirements increase
Solution Approach 1:
The fault detection system monitors steering parameters with higher precision than minimum requirements, using excessive measurement capability to ensure reliable fault detection. By measuring steering angles and comparing them against expected values with high precision, the system can detect even subtle deviations indicating faults, while the high-resolution measurements provide margin for error in the detection algorithm
Data Source
AI summary
An independent steering control system includes independent steering systems steer wheels and a controller configured for determining a level of fault of each of the independent steering systems. When at least one independent steering system among the independent steering systems is determined to be completely unsteerable, the controller is configured to perform fault tolerant steering by changing steering angles of remaining independent steering systems among the independent steering systems determined to be normal.