Steering Motor Fault Control for Continuous Automatic Steering
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Solution Overview
Problem
Existing automatic driving support systems fail to continue steering control when abnormalities occur in the control system of the motor for steering, such as the driving circuit and controller, leading to instability and inability to follow target trajectories.
Innovation Solution
An automatic driving support apparatus that includes an automatic steering control unit, a motor for steering, a motor drive circuit with switching devices, a steering angle control unit, a motor control unit, and an abnormality detection unit, which generates driving signals based on the motor output command value to continue steering even when abnormalities are detected in the motor control system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the current indication value is corrected by calculating counter current based on yaw angle speed, then vehicle instability is prevented, but the abnormality of the motor control system (driving circuit, controller) cannot be identified or handled
Solution Approach 1:
The system dynamically switches between normal control mode and abnormality handling mode based on real-time detection results. When abnormalities are detected in the motor control system, the control strategy is automatically adjusted to generate appropriate driving signals that account for the abnormal state, ensuring continuous safe operation
Solution Approach 2:
An abnormality detection unit is introduced as an intermediary component that monitors the motor control system and provides abnormality information to the control unit. This intermediary enables the system to identify and respond to specific abnormalities in the driving circuit and controller, bridging the gap between fault detection and appropriate control adjustment
2Reliability
If a second sensor is used for redundancy to continue driving support during sensor abnormality, then driving support can be maintained, but cost increases due to sensor redundancy
Solution Approach 1:
The system uses itself to monitor its own health status through the abnormality detection unit that continuously checks the motor control system components. This self-diagnosis capability eliminates the need for redundant sensors by enabling the existing sensor and control system to identify and adapt to their own abnormalities
Solution Approach 2:
The system changes its operational parameters and control strategies based on detected abnormalities. Instead of relying on hardware redundancy, the system adapts its control parameters and driving signal generation to maintain safe operation despite component failures, reducing hardware complexity while maintaining reliability
3Reliability
If the motor control system abnormalities are not detected, then the system structure remains simple, but continuous automatic steering cannot be ensured during motor abnormalities
Solution Approach 1:
The abnormality detection unit and control unit serve multiple functions: they detect abnormalities in the motor control system, identify the specific type of abnormality, and generate appropriate driving signals based on the detected state. This multi-functionality ensures continuous automatic steering capability without adding separate dedicated systems for each function
Solution Approach 2:
The system implements a feedback mechanism where the abnormality detection unit continuously monitors the motor control system and feeds abnormality information back to the control unit. This feedback loop enables real-time adaptation of control strategies, ensuring continuous safe operation while maintaining a relatively simple system structure through intelligent control rather than complex hardware
Data Source
AI summary
To provide an automatic driving support apparatus which can continue the automatic steering, when the abnormality of the control system of the motor for steering is detected. An automatic driving support apparatus including: an automatic steering control unit that calculates a steering angle command value of a steering apparatus of the ego vehicle based on the detected traveling state and the detected peripheral state; a motor for steering; a motor drive circuit; a steering angle control unit that calculates a motor output command value based on a steering angle command value and a steering angle detection value; a motor control unit that generates driving signals of the motor drive circuit based on the motor output command value; and an abnormality detection unit, wherein the motor control unit generates driving signals at abnormal time according to a content of abnormality related to the motor for steering.