APPARATUS AND METHOD FOR FAULT TOLERANT TRAJECTORY GENERATION A LEFT-RIGHT INDEPENDENT ACTIVE FRONT STEERING VEHICLE
First Claim
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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.
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Abstract
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.
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Citations
7 Claims
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1. An apparatus for fault tolerant trajectory generation of a left-right independent active front steering vehicle comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6)
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7. The method for fault tolerant trajectory generation of a left-right independent active front steering vehicle comprising:
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determining whether a steering angle value of both side wheel that is calculated from an inputted steering angle is identical with an actually steered steering angle of a both front vehicle wheel when steering wheel is input through a steering wheel, and determines as a fault state if they are not identical; when a steering unit of one side wheel is determined as a fault state, calculating a maximum turning radius value of a vehicle through controlling a steering angle of the other wheel to satisfy the ackerman condition according to a current steering angle information of the one side and through acquiring steering information of both side wheel; acquiring a minimum turning radius value of a road required to pass each road through determining location of the vehicle and acquiring information of a surrounding geography and road based on the determined location and calculating a turning radius of each roads; and
,calculating an optimal driving route of the vehicle through determining a vehicle passable road by comparing a maximum rotating value of the vehicle and a minimum turning radius value to pass the each roads and selecting a determined passable road.
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Specification