US 11,939,010 B2
Fault tolerant control of rear steer vehicles
Prerit Pramod, Saginaw, MI (US); Michael A Eickholt, Chesaning, MI (US); David P. Holm, Brant, MI (US); and Rakesh Mitra, Saginaw, MI (US)
Assigned to Steering Solutions IP Holding Corporation, Saginaw, MI (US)
Filed by STEERING SOLUTIONS IP HOLDING CORPORATION, Saginaw, MI (US)
Filed on Dec. 10, 2019, as Appl. No. 16/709,162.
Claims priority of provisional application 62/846,088, filed on May 10, 2019.
Prior Publication US 2020/0353976 A1, Nov. 12, 2020
Int. Cl. B62D 5/04 (2006.01); B62D 3/12 (2006.01); B62D 6/00 (2006.01); B62D 7/14 (2006.01); B62D 7/15 (2006.01); B62D 15/02 (2006.01)
CPC B62D 5/0487 (2013.01) [B62D 3/126 (2013.01); B62D 6/002 (2013.01); B62D 15/0225 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system for vehicle stabilization, the system comprising:
a processor; and
a memory that includes instructions that, when executed by the processor, cause the processor to:
in response to a determination that a fault occurred in a rear steering mechanism, identify a fault type associated with the fault;
determine whether a position of a rack of the rear steering mechanism is controllable based on the fault type;
in response to a determination that the position of the rack is controllable:
selectively position the rack to a center position; and
hold, using a motor control system of the rear steering mechanism, the rack in the center position using a rack position controller and a zero target position command; and
in response to a determination that the position of the rack is not controllable, disable the rack position controller by shorting, via an inverter, one or more phases of a motor associated with the rear steering mechanism to ground to hold, using the motor control system of the rear steering mechanism, the rack in a current position, wherein the current position includes a position of the rack associated with the fault and wherein holding the rack in the current position incudes not moving the rack out of the current position.