Patent ID: 9744992
Date: 2017-08-29
CPC Classifications: B62D

Claim:
1. A fault tolerant apparatus for an independent controlled steering in a four wheel steering system comprising: a steering system unit that is disposed at four wheels of a vehicle, controls steering angle of the wheels, and collects and transmits the state information of the wheels; and a control unit that controls the turning radius of the vehicle in accordance with the state information transmitted from the steering system unit, wherein the control unit controls the turning radius of the vehicle by controlling a steering angle of the others wheel with no fault generated and a speed of the vehicle when a fault information is included in the state information transmitted by the steering system unit according to the following table and equation: wherein wf is the tread of the front axle, wr is the tread of the rear axle, af is the distance between the center point and the front axle, ar is the distance between the center point and the rear axle, xrec is the x-coordinate of the new turning center, yrec is the y-coordinate of the new turning center and subscript k means the left (l) or the right (r) and the subscript m means the front (f) or the rear (r)) [Expression] wherein V