APPARATUS AND METHOD FOR FAULT TOLERANT TRAJECTORY GENERATION A LEFT-RIGHT INDEPENDENT ACTIVE FRONT STEERING VEHICLE

摘要

The present description relates to an apparatus and method for fault tolerant trajectory generation of a left-right independent active front steering vehicle that calculates a driving optimal route of a vehicle considering turning radius increase of a vehicle that is generated due to fault management because of a fault generated on any one of steering device between a left or right steering device of a vehicle and turning possible level of a surrounding road.

主权项

1. An apparatus for fault tolerant trajectory generation of a left-right independent active front steering vehicle comprising:
a steering system fault management unit, when determined a steering unit of one side wheel has broken down, configured to control a steering angle of the other side wheel based on a steering angle information of the one side wheel; a turning radius calculating unit configured to calculate a maximum turning radius value of a vehicle based on a steering angle information controlled by the steering system fault management unit; a radius information acquiring unit configured to calculate a minimum turning radius value of each roads by acquiring road information of surrounding region and driving direction of the vehicle; an optimal route calculation unit configured to determine a vehicle passable road by comparing the maximum turning radius value that is acquired from the turning radius calculating unit and the minimum turning radius value of each road that is acquired from the radius information acquiring unit, and calculates an optimal driving route of the vehicle by selecting a determined passable road.