FAULT TOLERANT APPARATUS AND METHOD FOR AN INDEPENDENT CONTROLLED STEERING IN A FOUR WHEEL DRIVE SYSTEM

摘要

The present disclosure relates to fault management apparatus and method for an independently controlled steering system in a four wheel drive system. The apparatus includes: a steering system unit that is disposed at four wheels of a vehicle, controls steering of the wheels, and collects and transmits the state information of the wheels; and a control unit that controls the steering system unit in accordance with the state information transmitted from the steering system unit. According to the present disclosure, when there is a fault in one or more wheels of a four wheel drive vehicle, it is possible to stabilize the vehicle body by actively adjusting the steering angles of the wheels that normally work and the speed of the vehicle in accordance with the fault environment.

主权项

1. A fault management apparatus for an independently controlled steering system in a four wheel drive system, the apparatus comprising:
a steering system unit disposed at four wheels of a vehicle, controls steering of the wheels, and collects and transmits the state information of the wheels; and a control unit controls the steering system unit in accordance with the state information transmitted from the steering system unit, wherein the control unit includes: a turning center coordinate calculating unit calculates turning center coordinates such that the tangential lines of all of the wheels without a fault converge on one point and the turning radii when a fault is generated are maintained when fault information is included in the state information transmitted from the steering system unit by the turning center coordinate calculating unit calculating new turning center coordinates by calculating the intersection of the tangential line of the wheel with a fault and a circle having the turning radius when a fault is generated as its radius; a speed calculating unit calculates a speed for keeping the turning radius when a fault is generated on the basis of the turning center coordinates calculated by the turning center coordinate calculating unit; a steering angle calculating unit calculates the steering angles of steering systems without a fault on the basis of the turning center coordinates calculated by the turning center coordinate calculating unit; and a speed/steering angel control unit controls the steering angle and the speed of the vehicle by transmitting the steering angles calculated by the steering angle calculating unit to the steering systems without a fault and transmitting the speed calculated by the speed calculating unit to an engine control unit.