The disclosure relates to managing a redundant steering system for an autonomous vehicle. Techniques are described for managing the redundant steering system for the vehicle. A method includes sending a first control command that instructs a first motor coupled to a steering wheel in a steering system to steer a vehicle, receiving, after sending the first control command, a speed of the vehicle, a yaw rate of the vehicle, and a steering position of the steering wheel, determining, based at least on the speed and the yaw rate, an expected range of steering angles that describes values within which the first motor is expected to steer the vehicle based on the first control command, and upon determining that the steering position of a steering wheel is outside the expected range of steering angles, sending a second control command that instructs a second motor coupled to the steering wheel in the steering system to steer the vehicle.

    本公开涉及管理用于自主车辆的冗余转向系统。本公开描述了用于管理用于车辆的冗余转向系统的技术。方法包括:发送第一控制命令,第一控制命令指示被联接至转向系统中的转向盘的第一马达使车辆转向;在发送第一控制命令之后接收车辆的速度、车辆的偏航率和转向盘的转向位置;至少基于速度和偏航率来确定描述了第一马达基于第一控制命令而被预期使车辆转向的值的转向角的预期范围;以及在确定转向盘的转向位置在转向角的预期范围之外时,发送第二控制命令,第二控制命令指示被联接至转向系统中的转向盘的第二马达使车辆转向。


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    Title :

    MANAGING REDUNDANT STEERING SYSTEM FOR AUTONOMOUS VEHICLES


    Additional title:

    管理用于自主车辆的冗余转向系统


    Contributors:
    ZHENG KAIXIN (author) / HAN XIAOLING (author) / HUANG ZEHUA (author)

    Publication date :

    2021-09-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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