The present invention relates to a method of controlling a backup motion control system for an autonomous vehicle comprising a primary steering system for controlling steering operation of a pair of steerable wheels, where each of the steerable wheels comprises a wheel brake, the wheel brakes are connected to the anti-lock braking system to prevent the wheel brakes from locking when the anti-lock braking system is arranged in an active state, the method comprising: determining a current movement of the autonomous vehicle, the current movement being generated by a steering operation of the pair of steered wheels caused by the main steering system; comparing the current motion of the autonomous vehicle with the desired motion; and when the difference between the current movement and the desired movement exceeds a predetermined threshold limit: controlling an anti-lock braking system for a wheel brake of the steerable wheel to be arranged in a disabled state; and a wheel brake that engages each of the steerable wheels.

    本发明涉及一种控制用于自主车辆的备用运动控制系统的方法,所述自主车辆包括用于控制一对可转向车轮的转向操作的主转向系统,其中所述可转向车轮中的每一者包括车轮制动器,所述车轮制动器连接到防抱死制动系统以在防抱死制动系统布置在启用状态时防止车轮制动器抱死,所述方法包括:确定自主车辆的当前运动,当前运动是通过由主转向系统引起的该对转向车轮的转向操作产生的;将自主车辆的当前运动与期望运动进行比较;以及当当前运动与期望运动之间的差超过预定阈值限制时:将用于可转向车轮的车轮制动器的防抱死制动系统控制为布置在禁用状态;以及接合所述可转向车轮中的每一者的车轮制动器。


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    Titel :

    Method of controlling backup motion control system


    Weitere Titelangaben:

    控制备用运动控制系统的方法


    Beteiligte:
    HAGVALL LINUS (Autor:in) / BERGQUIST STEFAN (Autor:in) / NILSSON PETER (Autor:in)

    Erscheinungsdatum :

    2024-03-05


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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