Autonomous Steering Redundancy Through Differential Braking
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Solution Overview
Problem
Conventional autonomous vehicles face challenges in maintaining steering redundancy without increasing body weight and cost due to the need for multiple electronic steering devices, which can lead to instability and failure in steering systems.
Innovation Solution
A redundant control system utilizing a brake module and an auxiliary brake system to ensure steering redundancy, allowing partial braking and deceleration even in the event of main brake or steering system failure, with a second autonomous control unit managing supplementary steering and backup braking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multiple electronic steering devices are mounted for backup, then steering redundancy and stability are improved, but body weight and cost increase
Solution Approach 1:
The brake module, originally designed for deceleration and stopping, is made multi-functional by enabling it to perform steering operations. The auxiliary brake can apply braking force to individual wheels to create differential braking that achieves turning, allowing the same hardware to serve both braking and steering functions, thereby providing steering redundancy without adding dedicated steering actuators
Solution Approach 2:
The patent merges the steering function with the existing brake system. Instead of maintaining separate steering and braking systems, the control unit integrates steering control capabilities into the brake module, combining two functions into one system to reduce overall complexity and weight while maintaining redundancy
2Reliability
If multiple electronic steering devices are mounted for backup, then steering redundancy is improved, but system cost increases
Solution Approach 1:
The brake module is designed to perform multiple functions including both deceleration and steering operations. The auxiliary brake can operate independently to provide steering capability, eliminating the need for separate redundant steering actuators and reducing system complexity
Solution Approach 2:
The existing brake system serves itself by taking on additional steering functionality. Rather than requiring external dedicated steering components for redundancy, the brake system's own actuators and control mechanisms are utilized to perform both braking and steering tasks
3Reliability
If partial braking control is applied for steering, then steering redundancy is maintained without additional hardware, but braking force distribution control complexity increases
Solution Approach 1:
The control unit continuously monitors vehicle state and brake system performance, using feedback signals to adjust braking force distribution dynamically. This closed-loop control enables the system to maintain stable steering operations through differential braking while compensating for variations in brake responsiveness and vehicle dynamics
Solution Approach 2:
The braking force distribution is made dynamic rather than static. The control unit continuously adjusts the magnitude and distribution of braking forces applied to different wheels based on real-time vehicle conditions, enabling adaptive steering control that responds to changing operational requirements
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Ensures stable autonomous vehicle operation at normal speed and steering angles by compensating for steering failures through partial braking, maintaining lane centering and safety without additional hardware, thus enhancing steering redundancy and stability.
Implementation Method 1
a brake module composed of a main brake and an auxiliary brake
Data Source
AI summary
An embodiment is a redundant control system for autonomous steering including a sensor in a vehicle configured to sense information for autonomous driving, a main steerer configured to actuate a steering motor to perform steering, first autonomous controller configured to use data provided from the sensor to determine a target steering angle through real-time lane recognition and to control the main steerer, an auxiliary steerer configured to use a brake module composed of a main brake and an auxiliary brake to perform steering, and a second autonomous controller configured to control the auxiliary steerer to perform supplementary steering through partial braking and application of additional actuation in the event of abnormal operation of an automatic steering function using the first autonomous controller and to control backup braking through the auxiliary brake when the main brake fails.