INDEPENDENT MULTI-AXIS DRIVE TYPE VEHICLE IMPROVING THE RELIABILITY OF DRIVING BY IMPROVING THE FAULT DIAGNOSIS PERFORMANCE

摘要

PURPOSE: An independent multi-axis drive type vehicle improves the reliability of fault diagnosis by diagnosing the fault based on the relation of the detected value from the yawing rate sensor and calculated yawing rate value form the other sensors.;CONSTITUTION: An independent multi-axis drive type vehicle comprises a control input unit, a driving control unit, an operating unit, a preprocessing unit, and a fail safety control unit. The control input unit is input the control input. The control input includes at least one value among the steering input and the acceleration input and the brake input. The driving control unit controls and drives some part of wheels according to the control input. The operating unit operates the vehicles through the control input of the driving control unit. The operating unit comprises a sensor module. The sensor module comprises a yawing rate sensor and a plurality of sensors. The yawing rate sensor detects the yawing rate of a vehicle. A plurality of sensors detects the operating state of a vehicle. The preprocessing unit generates the yawing rate by detecting the signal from a yawing rate sensor, and calculates the yawing rate during the operating state and control input state. The fail safety control unit diagnoses the failure of sensors based on the detected yawing rate and calculated yawing rate.;COPYRIGHT KIPO 2012