Four-Wheel Independent Steering Failure Compensation Control
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Solution Overview
Problem
Vehicles with independently controlled four wheels face challenges in maintaining driving performance when a failure occurs in any one wheel, as existing systems lack effective methods to compensate for the loss of steering control.
Innovation Solution
A control apparatus and method that includes a processor to determine the location of a failed wheel, calculate insufficient cornering force, and compensate by controlling the steering, driving, or braking devices on other wheels to maintain vehicle stability and performance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a vehicle is equipped with independently controlled four wheels with steering devices, driving devices, and braking devices, then the vehicle can be driven and the direction can be independently controlled, but when a failure occurs in any one steering device, problems occur in controlling the driving direction of the vehicle
Solution Approach 1:
The control apparatus pre-calculates and stores compensation control strategies for various failure scenarios before they occur. When a steering device failure is detected, the system immediately applies pre-prepared compensation control to adjacent wheels, enabling rapid response without delay in calculating control parameters during the actual failure event.
Solution Approach 2:
The control apparatus acts as an intermediary that mediates between the failed steering device and the vehicle's overall steering control. It detects the failure, calculates the insufficient cornering force, and compensates by controlling adjacent wheels with steering devices, effectively bridging the control gap created by the failure.
2Reliability
If the control apparatus compensates for insufficient cornering force by additionally steering normal wheels, then driving performance is maintained under failure conditions, but the control complexity increases
Solution Approach 1:
The control apparatus applies compensation control locally to specific adjacent wheels rather than uniformly to all wheels. It identifies the failed wheel's position and applies additional steering only to adjacent wheels with steering devices, making the control strategy targeted and efficient rather than globally complex.
Solution Approach 2:
The control apparatus dynamically changes control parameters based on the failure condition. It calculates the insufficient cornering force as a quantitative parameter and adjusts the steering angles of adjacent wheels proportionally to this calculated value, transforming a complex control problem into a parameter-based adjustment scheme.
3Reliability
If the control apparatus uses multiple compensation methods (steering, driving force, braking force control), then steering failure compensation effectiveness is improved, but the control algorithm complexity increases
Solution Approach 1:
The control apparatus dynamically selects and combines different compensation methods based on real-time vehicle conditions. It evaluates whether to use steering control, driving force control, or braking force control for adjacent wheels depending on the current operating state, making the system adaptable rather than statically complex.
Solution Approach 2:
The control apparatus makes adjacent wheels with driving or braking devices serve multiple functions. These wheels not only provide propulsion or braking but also contribute to cornering force compensation when steering failure occurs, maximizing the utility of existing components rather than adding dedicated compensation mechanisms.
Data Source
AI summary
A control apparatus of a four-wheel independent control vehicle and a control method therefor are provided. The control apparatus includes wheels that are each installed with a steering device, a driving device, and a braking device, and a processor. In response to occurrence of a failure in any one steering device among the wheels, the processor determines a location of a failed wheel, calculates an insufficient cornering force of the failed wheel, and compensates for the insufficient cornering force by controlling at least one of the steering device, the driving device, and the braking device installed on each of the wheels.