Vehicle Steering Control With Redundant Controllers
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Solution Overview
Problem
Current steering systems for vehicles, especially autonomous ones, face challenges in maintaining driving trajectory stability and reliability in the event of system failures, leading to deviations and reduced performance in terms of turning radius and yaw stability.
Innovation Solution
A vehicle steering apparatus and method that includes multiple steering controllers connected to each wheel, with a central controller determining target steering angles based on vehicle information and re-calculating these angles if a failure occurs, identifying a normal steering controller to maintain consistent driving trajectory and cornering force before and after a failure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multiple steering controllers are used to control each vehicle wheel independently, then the steering system reliability is improved through fail-safe functionality, but the device complexity increases
Solution Approach 1:
The steering control system is divided into multiple independent steering controllers, with each controller responsible for controlling a specific vehicle wheel. This segmentation allows the system to maintain functionality even when one controller fails, as other controllers continue to operate their respective wheels independently.
Solution Approach 2:
The system performs preliminary failure detection by monitoring the operational status of each steering controller. When a failure is detected in one controller, the system proactively redistributes the steering control workload to remaining functional controllers before the failure affects overall system performance.
2Stability of the object's composition
If target steering angle information is re-determined based on driving information after a failure, then the driving trajectory stability is maintained, but the control complexity increases
Solution Approach 1:
The system continuously monitors driving information including vehicle speed, steering angle, and wheel positions. When a controller failure is detected, the system uses this feedback to re-determine target steering angle information that compensates for the failure, ensuring the vehicle maintains its intended driving trajectory despite the reduced number of functional controllers.
Solution Approach 2:
Upon detecting a controller failure, the system dynamically changes control parameters by re-determining target steering angle information based on current driving conditions. This allows the remaining functional controllers to adjust their control strategy to maintain overall steering performance and trajectory stability.
3Measurement precision
If independent steering control of each vehicle wheel is implemented, then the steering precision and trajectory control are improved, but the system complexity and cost increase
Solution Approach 1:
Each vehicle wheel is equipped with its own dedicated steering controller that independently manages the steering angle and position of that specific wheel. This segmentation enables precise control of each wheel's steering action, allowing for accurate trajectory following and improved measurement of actual versus target steering angles.
Data Source
AI summary
The present disclosure relates to an apparatus and a method for controlling steering of a vehicle and, more particularly, for steering independently each of the vehicle wheels by using respective steering controller based on the target steering angle information for each vehicle wheel, determining the normal steering controller among a plurality of the steering controllers, re-determining the target steering angle information of the vehicle wheel connected to the normal steering controller by using a driving information of the vehicle, and steering the vehicle wheels based on the re-determined target steering angle information.