Steering Apparatus Backup Control via Torque Distribution
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Solution Overview
Problem
The Steer by Wire (SBW) system's redundant design increases manufacturing costs and poses safety risks when all dualized structures fail, leading to uncontrolled steering systems.
Innovation Solution
A processor-implemented method and apparatus for controlling a vehicle's steering device, which monitors failures, calculates target yaw and velocity values, performs backup steering by generating slip, and distributes braking torque between front and rear wheels to compensate for yaw moments, ensuring the vehicle moves in the intended direction and maintains intended velocity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a redundant design is applied to dualize the steering system for safety, then reliability is improved, but manufacturing cost increases
Solution Approach 1:
The braking system is made multi-functional by enabling it to perform both its traditional braking function and a backup steering function. The controller distributes braking torque to front and rear wheels in specific patterns to generate yaw moments that compensate for steering failures, allowing one system to serve multiple purposes and eliminate the need for separate redundant steering components
Solution Approach 2:
The controller acts as an intermediary that translates steering failure detection into appropriate braking torque distribution commands. It mediates between the braking system and the vehicle's steering requirements by calculating and distributing braking torque to front and rear wheels to generate compensatory yaw moments, enabling the braking system to fulfill steering functions without direct mechanical connection
2Reliability
If a redundant design is applied to dualize the steering system, then reliability is improved, but device complexity increases
Solution Approach 1:
The braking system is made multi-functional by enabling it to perform both its traditional braking function and a backup steering function. The controller distributes braking torque to front and rear wheels in specific patterns to generate yaw moments that compensate for steering failures, allowing one system to serve multiple purposes and eliminate the need for separate redundant steering components
Solution Approach 2:
The backup steering function is merged with the existing braking system rather than being implemented as a separate redundant steering system. By combining these functions, the patent reduces overall system complexity while maintaining reliability, as the same hardware components (braking system and controller) handle both braking and backup steering operations
3Reliability
If braking torque is distributed to front and rear wheels for backup steering, then vehicle control is improved, but energy consumption increases
Solution Approach 1:
The controller dynamically adjusts the distribution of braking torque between front and rear wheels based on real-time vehicle conditions such as steering angle, velocity, and failure mode. By changing the torque distribution parameters adaptively rather than applying fixed torque values, the system achieves effective backup steering while minimizing unnecessary energy consumption from the braking system
Solution Approach 2:
The system applies braking torque only to the extent necessary to generate the required yaw moment for backup steering, rather than applying maximum braking force continuously. The controller calculates the minimum required braking torque distribution to achieve the compensatory yaw moment, avoiding excessive energy consumption while maintaining sufficient vehicle control capability
Data Source
AI summary
Steering devices and methods for a vehicle are provided, where the method includes monitoring failure of an electric steering system, calculating a target yaw rate value and a target velocity value of the vehicle based on a signals received from one or more sensors, in response to detecting the failure in the electric steering system, detecting a wheel angle of a front wheel portion, performing backup steering based on generating slip in the vehicle to move the vehicle in a direction corresponding to an intended direction, and controlling a velocity of the vehicle to drive the vehicle based on an intended velocity, wherein the performing of the backup steering includes calculating a braking torque for each of the front wheel portion and a rear wheel portion based on the velocity and an steering angle, and distributing the braking torque to the front wheel portion and the rear wheel portion.