KR101842028B1 - Vehicle for processing fault and method for processing fault of vehicle - Google Patents

Abstract

The present invention relates to a fault-handling mobile object capable of detecting and processing a plurality of faults from a mobile object, and a method of processing a fault of the mobile object. The failure handling mobile body includes a physical layer for detecting various failure situations occurring in the mobile body, a presentation layer for generating failure codes according to failure characteristics and causes for each failure situation, And an application layer that performs driving continuation or stop guidance or emergency stop processing.

Description

[0001] The present invention relates to a method for processing a faulty moving object and a moving object,

The present invention relates to a fault-handling mobile object capable of detecting and processing a plurality of faults from a mobile object, and a method of processing a fault of the mobile object.

As electric and electronic technologies have developed, mobile bodies such as automobiles, robots, and the like have also developed into complex systems equipped with various electronic control systems. However, when a fault occurs in a part of such a complicated electronic system, there is a problem that it is difficult to grasp the location and type of the fault.

In Korean Patent Laid-Open Publication No. 2000-00081826, diagnosis is performed as to whether or not the main control unit for controlling a moving object is in a normal operating state. When a failure of the main control unit is detected, information about a diagnosis execution result is output.

Moving objects with complex structures do not guarantee that only one fault occurs, and several faults can occur at the same time. In addition, when a fault occurs in a certain area, a fault may be spread in a chain. To prevent this, a series of processes for isolating a fault and immediately processing the fault is required.

Korean Patent Publication No. 2012-00081826

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and it is an object of the present invention to provide a fault-handling mobile object and a method of processing a mobile object that can detect and process a plurality of faults from a mobile object.

According to an aspect of the present invention, there is provided a fault-tolerant moving object comprising: a physical layer for detecting various fault conditions occurring in a moving object; A presentation layer for generating a failure code according to the failure characteristics and causes for each of the failure situations; And an application layer for displaying the fault situation according to the fault code and for performing driving continuation or stop induction or emergency stop processing of the moving object.

According to the present invention, the physical layer may be configured to detect an effective range of the sensed value, to compare the measured value with a reference value, to calculate an operation timing of a driving device including an actuator and a motor by a control command, And detecting various failure situations related to the failure detection.

In the present invention, the presentation layer calculates, based on the type of the failure, the severity based on the failure mode and effect analysis (FMEA) table, the occurrence position of the failure, and the information, And generating the failure code including the failure level.

In the present invention, the application layer may display the type and location of the failure together with the failure code including the first failure level on the display unit, and induce the driving continuation of the mobile.

In the present invention, the application layer displays, on the display unit, the type and location of the failure together with the failure code including the second failure level, and displays the displayed information at the first failure level And the driving of the moving body is induced.

In the present invention, the application layer displays, on the display unit, the type and location of the failure together with the failure code including the third failure level, and outputs the flashing of the displayed information and the first warning signal And a stop of the moving body is induced.

In the present invention, the application layer displays, on the display unit, the type and position of the failure together with the failure code including a fourth failure level, and outputs a blinking of the displayed information and a second warning signal And an emergency stop is performed on the moving body.

In the present invention, when at least two or more failure codes generated by increasing the number of failures of the same type among devices of the same type among the devices of the same type are received, the application layer performs a process of increasing the failure level according to the number of failures of the components .

In the present invention, when at least two or more failure codes generated due to the increase in the number of different types of parts failures among devices of the same type are received, the application layer processes the failure codes having a higher failure level with priority .

According to the present invention, the application layer is characterized in that, when receiving at least two or more failure codes generated due to the occurrence of failures of different types of devices, the application layer processes the failure codes having a higher failure level in priority .

According to an aspect of the present invention, there is provided a method of processing a fault of a moving object, the method comprising: detecting various fault conditions occurring in the moving object; Generating, for each of the failure situations, a failure code including a type of the failure, a severity based on the FMEA table, a location of the failure, and a failure level calculated based on the information; And displaying the fault situation according to the fault code and performing driving continuation or stop induction or emergency stop processing of the moving object.

As described above, according to the present invention, it is possible to isolate a fault when a plurality of faults occur from a moving body, and to immediately process faults. It is also possible to improve the reliability by making different measures for the failure depending on the type and severity of the failure.

FIG. 1 is a view showing a fault-handling mobile body according to an embodiment of the present invention.
2 is an internal configuration diagram of the moving body shown in FIG.
Fig. 3 is a structural diagram of the fault handling processing of the moving body shown in Fig. 1. Fig.
FIG. 4 is a diagram showing a severity based on a failure mode and effect analysis (FMEA) table included in a failure code generated in the presentation layer in FIG.
5 is a diagram for explaining a moving object failure process according to a fault code in the application layer in FIG.
FIG. 6 is a flowchart illustrating an operation of a method for processing a failure of a moving object according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

The terms first, second, etc. may be used to describe various elements, but the elements should not be limited by terms. Terms are used only for the purpose of distinguishing one component from another.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

The present invention may be represented by functional block configurations and various processing steps. These functional blocks may be implemented in a wide variety of hardware and / or software configurations that perform particular functions. For example, the present invention may include integrated circuit configurations, such as memory, processing, logic, look-up tables, etc., that may perform various functions by control of one or more microprocessors or other control devices Can be adopted. Similar to the components of the present invention that may be implemented with software programming or software components, the present invention may be implemented as a combination of C, C ++, and C ++, including various algorithms implemented with data structures, processes, routines, , Java (Java), assembler, and the like. Functional aspects may be implemented with algorithms running on one or more processors. Further, the present invention can employ conventional techniques for electronic environment setting, signal processing, and / or data processing. Terms such as mechanisms, elements, means, and configurations are widely used and are not limited to mechanical and physical configurations. The term may include the meaning of a series of routines of software in conjunction with a processor or the like.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Referring to the accompanying drawings, the same or corresponding components are denoted by the same reference numerals, do.

FIG. 1 is a view showing a fault-handling mobile body according to an embodiment of the present invention. 2 is an internal configuration diagram of the moving body shown in FIG.

1 and 2, the fault-handling mobile unit includes a handle 111, an acceleration pedal 112, a brake pedal 113, a display unit 114 including a dash panel and a monitor, a plurality of wheels 120, A plurality of steering actuators 140, an in-wheel motor control unit (MCU) 150, a steering control unit (SCU) 160, a sensor unit 170, and a communication unit 180 and a vehicle control unit (VCU) 190.

The plurality of wheels 120 may include a front wheel 121 disposed on the front wheel of the moving body, a middle wheel 122 disposed on the middle wheel of the moving body, and a rear wheel 123 disposed on the rear wheel of the moving body. The plurality of wheels 120 may be disposed between the front wheel 121 and the middle wheel 122 as well as between the middle wheel 122 and the rear wheel 123 in addition to the front wheel 121, And the like. Hereinafter, for convenience of description, the plurality of wheels 120 will be described in detail with reference to a case including a front wheel 121, a middle wheel 122, and a rear wheel 123.

A plurality of front wheels 121 may be provided. At this time, the front wheel 121 may include a first front wheel 121a disposed on the left side of the front wheel of the moving object and a second front wheel 121b disposed on the right side of the front side of the moving object. A plurality of the middle wheel 122 may be provided. At this time, the middle wheel 122 may include a first middle wheel 122a disposed on the left side of the middle wheel of the moving body and a second middle wheel 122b disposed on the right side of the middle wheel of the moving body. A plurality of rear wheels 123 may be provided. At this time, the rear wheel 123 may include a first rear wheel 123a disposed on the left side of the rear wheel of the moving object and a second rear wheel 123b disposed on the right side of the rear wheel of the moving object.

On the other hand, the moving body may include a plurality of in-wheel motors 130 installed on the respective wheels to rotate the respective wheels. Here, the plurality of in-wheel motor 130 may be installed individually on each wheel. In particular, the plurality of in-wheel motor 130 includes a wheel motor 131a as a first front wheel and a wheel motor 131b as a second front wheel installed on the second front wheel 121b, Wheel in-wheel motor 131 including an in-wheel motor 131, a first middle-wheel in-wheel motor 132a provided in the first middle wheel 122a, and a second intermediate wheel in- Which is a second rear wheel provided on the first rear wheel 123a and a first rear wheel wheel motor 133a mounted on the first rear wheel 123a and a second rear wheel wheel motor 133b provided on the second rear wheel 123b, ). At this time, the front wheel in-wheel motor 131, the middle wheel in-wheel motor 132 and the rear wheel in-wheel motor 133 are driven by an in-wheel motor including a front wheel wheel motor control unit 151, a middle wheel in-wheel motor control unit 152, And can rotate / stop each wheel by individually driving them under the control of the control unit 150. [

Further, the plurality of steering actuators 140 may be connected to each wheel to control the angle of the wheel. At this time, the steering actuator may be formed in various shapes. For example, the steering actuator may include a motor and a gear assembly to control the angle of each wheel. Also, the steering actuator may be formed in a cylinder shape to control the angle of each wheel. The plurality of steering actuators 140 operate independently of each other to vary the angle of each wheel. More specifically, the plurality of steering actuators 140 include a first steering actuator 141 connected to the first front wheel 121a, a second steering actuator 142 connected to the second front wheel 121b, A fourth steering actuator 144 connected to the second middle wheel 122b, a fifth steering actuator 145 connected to the first rear wheel 123a, a third steering actuator 143 connected to the second steering wheel 122a, And a sixth steering actuator 146 connected to the second rear wheel 123b. At this time, the first steering actuator 141 to the sixth steering actuator 146 may be individually driven under the control of the steering control unit 160 to adjust the angle of each wheel.

The sensor unit 170 detects a current / voltage of the moving object, a sensor that senses the temperature of the moving object, a sensor that detects the moving object's velocity, a yaw rate that is the degree of movement of the moving object, A sensor for sensing the steering angle and steering torque of the steering actuator, a sensor for monitoring the operation status of the wheel motor, and a sensor for sensing the temperature and pressure of the transmission (not shown). can do.

The communication unit 180 performs data communication between an electronic device such as an in-wheel motor control unit 150, a steering control unit 160 and a main control unit 190 provided in a mobile body and mainly performs a high-speed controller area network . The CAN communication in the mobile body provides a CAN communication bus as a data exchange path for exchanging data between the main control unit 190 provided in the vehicle and the sub-controllers, that is, the in-wheel motor control unit 150 and the steering control unit 160, And processes various data exchanged.

The main control unit 190 controls the entire moving body and controls the in-wheel motor control unit 150 and the steering control unit 160 as a sub-controller in correspondence with the input signals of the steering wheel 111, the accelerator pedal 112 and the braking pedal 113 ). Also, the main control unit 190 senses the valid range of the sensed value from the sensor unit 170 to determine a failure state, compares the in-wheel motor state measurement value from the in-wheel motor control unit 150 with the reference value, And determines a failure situation by receiving the operation timing value, comparing the measured value of the steering actuator state from the steering control unit 180 with the reference value, and receiving the operation timing value. In addition, the main control unit 190 receives the physical breakdown detection of the internal component / drive unit to determine the failure status, and determines the failure status according to the communication status signal. In this manner, the main control unit 190 determines the failure status of the mobile unit, generates a failure code according to the failure status, and carries on the traveling of the mobile unit of the mobile unit, or stops or stops the emergency.

Next, with reference to FIG. 3, the fault processing of the moving object will be described in detail. FIG. 3 is a view showing a structure of a fault processing structure of a moving object. FIG. Referring to FIG. 3, the failure processing structure of the moving object may include a physical layer 310, a presentation layer 320, and an application layer 330.

The physical layer 310 detects various failure situations occurring in the mobile body. The physical layer 310 includes a driving unit of a moving object including a plurality of wheels 120, a plurality of in-wheel motors 130, a plurality of steering actuators 140, an in-wheel motor control unit 150 and a steering control unit 160, (170) and a communication unit (180). The physical layer 310 detects an effective range of the sensed value by using the driving unit, the sensor unit 170, and the communication unit 180, and compares the measured value with the reference value, Calculation of the operation timing of the drive device including the actuator and the motor, and various failure situations related to the physical breakage detection of the part / drive device can be detected.

The presentation layer 320 generates a failure code according to the cause and characteristics of the failure using the failure detection signal received from the physical layer 310 for fault isolation. The presentation layer 320 may include a main controller 190. The fault code is composed of a total of 4 bits and may include a fault level, a source of fault, severity, and an ID.

The ID included in the failure code indicates the index of the failure type according to the failure occurrence position, and can be composed of a total of 2 bits.

The severity included in the failure code is based on the FMEA table and can consist of a total of one bit. Failure Mode and Effects Analysis (FMEA) is a measure of the failure of a specific production line based on the process FMEA table as a table listing information on process, function, phenomenon, impact, and countermeasures for each failure mode expected. It is a management method to review. In the FMEA, the information of severity, frequency and degree of detection is set as the value used for reviewing the necessary parts of the countermeasure for each failure mode. Here, the severity is an item indicating a value obtained by quantifying the effect of a failure occurring in the item of the phenomenon on the product, and may be expressed in the order from 1 to 10 as shown in FIG.

The fault occurrence position included in the fault code can be composed of 1 bit.

The fault level included in the fault code is calculated based on the fault occurrence location, the severity, and the ID, and can be composed of 1 bit. In this embodiment, the fault level may include a first fault level to a fourth fault level. The first fault level is a case where the severity is less than 4, and may indicate a failure in a slight case where the moving object can continue running. The second fault level is a case where the severity is 4 or more and less than 7, which may indicate a failure that may cause the moving object to continue running, but may degrade the performance of the moving object. The third fault level is a case where the severity is 7th or more and less than 9th, and may indicate a failure when the moving object is difficult to travel. The fourth fault level is a case where the severity is equal to or higher than the ninth rank, and can indicate a failure in the case where the moving object can not travel.

For example, when the failure code generated in the presentation layer 320 is [26507], [2] indicates the second failure level, [6] indicates the failure occurrence position is the in-wheel motor, and [5] [7] indicates the seventh fault in the in-wheel motor failure, while the degree of severity indicates the degree of discomfort due to the fact that the moving object operates as the fifth priority but some facilities do not operate.

Further, when the failure code generated in the presentation layer 320 is [4880E], [4] indicates the fourth failure level, [8] indicates that the failure occurrence position is the steering actuator, and [8] 8 indicates a state in which the moving object or part does not operate, and [0E] is an ID indicating that it is the 15th fault in the steering actuator failure.

The application layer 330 displays a failure status according to a failure code received from the presentation layer 320 and displays whether the mobile station continues to run even in the event of a failure or if the mobile station is to be stopped, It judges whether or not to stop the emergency and performs the corresponding process. The presentation layer 320 may include a main controller 190.

FIG. 5 is a view for explaining a moving object failure process according to a fault code performed by the application layer 330. FIG. Referring to FIG. 5, the application layer 330 judges that the fault code is a minor fault of the moving object, and displays the fault code on the display unit 114 while continuing the traveling of the moving object, with respect to the fault code including the first fault level, The type of fault and the location of occurrence are displayed together with the fault code.

The application layer 330 judges that the fault is a fault that deteriorates the performance of the moving object although the moving object can continue the traveling for the fault code including the second fault level whose severity is 4 or more and less than 7, The type of failure and the location of occurrence are displayed on the display unit 114 together with the failure code. At this time, a color different from that at the first failure level is turned on. For example, if the color of the display unit 114 is displayed in blue for the failure code including the first failure level, and the color of the display 114 is displayed in red for the failure code including the second failure level .

The application layer 330 judges that the moving object is difficult to travel for a fault code including a third fault level whose severity is 7 or more and less than 9, and displays the fault code on the display 114 together with the fault code, Displays the occurrence position, blinks the displayed information, and outputs a first warning signal, thereby inducing a safe stop of the moving object.

The application layer 330 determines that the moving object is a fault that can not be traveled, and displays the fault code on the display unit 114 along with the type of the fault and the occurrence position And flashes the displayed information and emits a second warning signal different from the first warning signal, for example, a siren, to stop the moving object in an emergency.

In the presentation layer 320, an independent failure code is generated depending on the cause and type of failure. However, since a plurality of electrical devices are combined in the moving object, only one failure can be considered, Should be considered. When a plurality of faults occur, a plurality of fault codes are generated. In such a case, the application layer 330 performs fault processing according to the following policy.

The application layer 330 can process a situation in which a plurality of fault codes are generated in three cases. In the three cases, when the number of faults of the same type among the devices of the same type increases, The case where the number of failures of other parts increases, and the case where different kinds of devices fail at the same time, and each case can be processed as follows.

First, when the number of failures of the same part among devices of the same type increases, the application layer 330 performs a process of increasing the failure level according to the number of failures of the part.

For example, the failure code generation in the presentation layer 320 and the failure processing in the application layer 330 will be described when a failure occurs in the in-wheel motor at a high temperature. If an in-wheel motor of one of the six in-wheel motors 130 (131a-133b) fails at a high temperature, the presentation layer 320 generates a fault code [26507]. In [2], the in-wheel motor is assigned the fault level because it causes the performance degradation due to the failure. [6] indicates that the fault location is the in-wheel motor and [5] [07] is the ID indicating that it is the seventh fault in the expected in-wheel motor failure. The application layer 330 receives the failure code including the second failure level generated in the presentation layer 320 and displays the failure code and the type of failure in the display unit 114, The location of occurrence is indicated in red.

However, when one in-wheel motor drives in a reduced output, if the driver ignores the red warning and accelerates the moving object further, the other in-wheel motor may also rise in temperature and cause additional malfunctions. In this case, the presentation layer 320 generates a failure code [36507] which is upgraded only to the failure level without changing any other failure code. The application layer 330 receiving the failure code including the third failure level generated in the presentation layer 320 displays the type of the failure and the occurrence position together with the failure code on the display unit 114, And outputs a first warning signal, thereby inducing a safe stop of the moving object. At this time, the application layer 330 generally lowers the speed of the in-wheel motor to safely stop the moving object and does not transmit an acceleration command larger than the current speed.

In spite of this situation, when the driver operates for a long time, the temperature of another in-wheel motor rises and further fewer failures occur. If more than one fault occurs from the same faulty component (in-wheel motor), the fault level becomes the fourth fault level, which is the highest value, in which case the presentation layer 320 generates a fault code [46507]. Upon receipt of the failure code including the fourth failure level generated in the presentation layer 320, the application layer 330 eventually terminates the moving object.

Next, when any one of the steering actuators 140 (the first steering actuator 141 to the sixth steering actuator 146) has a power failure, the failure code generation and the application layer 330 of the presentation layer 320, Will be described.

When a power failure occurs in the first and second steering actuators 141 and 142 used for front wheel steering, the presentation layer 320 generates a failure code [27508]. Here, [2] represents a second failure level. If a failure occurs in the steering actuator, it is a very dangerous situation that steering is not performed during driving. However, in this case, an emergency steering actuator (not shown) and an emergency steering controller Hour) is prepared as a substitute, the failure level becomes a second failure level, not a very dangerous situation. [7] indicates that the failure occurrence position is the steering actuator, [5] is the assigned failure severity rank because the emergency steering actuator is used if the basic front wheel steering actuator fails, and [08] This is the ID indicating the eighth fault. The application layer 330 receives the failure code including the second failure level generated in the presentation layer 320 and displays the failure code and the type of failure in the display unit 114, The location of occurrence is indicated in red.

However, if an abnormality occurs in the power supply of the remaining steering actuator during normal driving, the steering control unit 160 senses the failure and transmits the sensed failure to the presentation layer 320 while driving the moving body in the emergency steering. In this case, the presentation layer 320 generates a failure code [27508] which is upgraded only to the failure level without changing any other failure code. The application layer 330 receiving the failure code including the third failure level generated in the presentation layer 320 displays the type of the failure and the occurrence position together with the failure code on the display unit 114, And outputs a first warning signal, thereby inducing a safe stop of the moving object. At this time, the application layer 330 generally lowers the speed of the in-wheel motor and does not transmit acceleration commands larger than the current speed, thereby inducing a stop of the moving object.

Secondly, when the number of failures of other parts of the same type of device increases, the application layer 330 treats the failure code having a higher failure level as a priority.

For example, when a plurality of components fail at the same time in the in-wheel motor control unit 150 (151-153), the failure code generation of the presentation layer 320 and the failure processing of the application layer 330 will be described.

The in-wheel motor control unit 150 (151-153) comprises a communication part (not shown), a sensor (not shown), a cooling fan (not shown) and a main board (not shown) If the cooling fan fails, the presentation layer 320 generates a failure code [16303]. [6] indicates that the fault occurrence position is an in-wheel motor, [3] indicates a fault severity ranking indicating a minor fault, and [6] , And [03] is an ID indicating that the third fault occurs during the failure of the expected in-wheel motor.

However, at the same time, when the communication component fails and the communication with the other control unit fails, the presentation layer 320 generates a failure code [36802] because it is a very serious failure.

As a result, the presentation layer 320 simultaneously generates the failure codes [16303] and [36802], and finally, to determine the behavior of the mobile, the application layer 330 compares the failure levels of the failure codes, The fault situation having a large fault level is treated as a priority. That is, the application layer 330 assigns priorities in the case of the failure code [36802] among the failure codes [16303] and [36802], and displays the type and location of the failure along with the failure code on the display unit 114 , And the displayed information is blinked and the first warning signal is outputted to induce a safe stop of the moving object. At this time, the application layer 330 generally lowers the speed of the in-wheel motor to safely stop the moving object and does not transmit an acceleration command larger than the current speed.

Third, when different types of devices fail at the same time, the application layer 330 prioritizes fault codes with higher fault levels.

For example, when a failure occurs simultaneously in the in-wheel motor control unit 150 (151-153) and the power control unit (PCU) (not shown) that supplies power to the moving object, The failure processing of the application layer 330 will be described.

If a failure occurs in the power control unit, the presentation layer 320 generates a failure code [45A09]. Here, [4] is the highest fault level assigned because the power control unit that calculates the power from the battery (not shown) and the engine (not shown) and supplies power to the entire mobile body is the most secure device, [A] is the most dangerous failure severity rank, and [09] is the ID that indicates the ninth failure of the power control unit that is expected. Fault code [45A09] is an overcurrent fault in the power controller, indicating that if this fault is detected, the power controller becomes no longer powerable and has the highest order of severity with all outputs turned off as soon as possible.

In addition, when a failure occurs in the power control unit and a communication component in the in-wheel motor control unit 150 (151-153) fails to communicate with another control unit, as described above, the presentation layer 320 transmits a failure code [ 36802].

In this way, when different types of devices fail at the same time, the application layer 330 compares the failure levels included in the two failure codes and preferentially processes the failure codes having the higher failure level. From the above example, the application layer 330 preferentially processes the failure code [36802] including the fourth failure level, from which the application layer 330 displays the failure code along with the failure code, And the power is turned off after the mobile unit is brought to an emergency stop while blinking the displayed information and outputting a second warning signal, for example, a siren.

FIG. 6 is a flowchart illustrating an operation of a method for processing a failure of a moving object according to an embodiment of the present invention. The fault handling method according to the present invention can be performed in the physical layer 310, the presentation layer 320, and the application layer 330 with the help of peripheral components as shown in FIG. In the following description, the description of the parts overlapping with the description of Figs. 1 to 6 will be omitted.

Referring to FIG. 6, the physical layer 310 detects various failure conditions occurring in the moving object and transmits the detected failure conditions to the presentation layer 320 (S100). The physical layer 310 detects an effective range of the sensed value by using the driving unit, the sensor unit 170, and the communication unit 180, and compares the measured value with the reference value, Calculation of the operation timing of the drive device including the actuator and the motor, and various failure situations related to the physical breakage detection of the part / drive device can be detected.

The presentation layer 320 receiving the various failure conditions detected from the physical layer 310 performs a step S200 of generating a failure code according to the cause and characteristics of the failure for fault isolation. The fault code is composed of a total of 4 bits and may include a fault level, a source of fault, severity, and an ID. The ID included in the failure code indicates the index of the failure type according to the failure occurrence position, and can be composed of a total of 2 bits. The severity included in the failure code is based on the FMEA table and can consist of a total of one bit. The fault occurrence position included in the fault code can be composed of 1 bit. The fault level included in the fault code is calculated based on the fault occurrence location, the severity, and the ID, and can be composed of 1 bit. In this embodiment, the fault level may include a first fault level to a fourth fault level. The first fault level is a case where the severity is less than 4, and may indicate a failure in a slight case where the moving object can continue running. The second fault level is a case where the severity is 4 or more and less than 7, which may indicate a failure that may cause the moving object to continue running, but may degrade the performance of the moving object. The third fault level is a case where the severity is 7th or more and less than 9th, and may indicate a failure when the moving object is difficult to travel. The fourth fault level is a case where the severity is equal to or higher than the ninth rank, and can indicate a failure in the case where the moving object can not travel.

The application layer 330 displays the failure status according to the failure code received from the presentation layer 320 and also determines whether to continue the traveling of the mobile object even in the event of a failure or to induce a stop of the mobile object, A step S300 of judging whether the mobile unit is to be stopped in an emergency, performing a corresponding process, allocating a priority order and performing a failure process when receiving a plurality of failure codes is performed.

The application layer 330 judges that the fault code is a slight fault of the moving object with respect to the fault code including the first fault level and notifies the display unit 114 of the type of the fault and the occurrence position Display. The application layer 330 determines that the mobile unit can continue to travel but fails to degrade the performance of the mobile unit with respect to the failure code including the second failure level, The type of fault and the location of occurrence are displayed together with the fault code, which is different from that at the first fault level. For example, if the color of the display unit 114 is displayed in blue for the failure code including the first failure level, and the color of the display 114 is displayed in red for the failure code including the second failure level . The application layer 330 determines that the moving object is difficult to travel with respect to the fault code including the third fault level. The application layer 330 displays the type of the fault and the occurrence position together with the fault code on the display unit 114, And outputs a first warning signal to induce a safe stop of the moving object. The application layer 330 determines that the mobile unit is a failure that can not be performed with respect to the fault code including the fourth fault level. The application layer 330 displays the fault code and the type and location of the fault in the display unit 114, And emits a second warning signal different from the first warning signal, for example, a siren.

In the presentation layer 320, an independent failure code is generated depending on the cause and type of failure. However, since a plurality of electrical devices are combined in the moving object, only one failure can be considered, Should be considered. When a plurality of faults occur, a plurality of fault codes are generated. In such a case, the application layer 330 performs fault processing according to the following policy. The application layer 330 can process a situation in which a plurality of fault codes are generated in three cases. In the three cases, when the number of faults of the same type among the devices of the same type increases, The case where the number of failures of other parts increases, and the case where different kinds of devices fail at the same time, and each case can be processed as follows. First, when the number of failures of the same part among devices of the same type increases, the application layer 330 performs a process of increasing the failure level according to the number of failures of the part. Secondly, when the number of failures of other parts of the same type of device increases, the application layer 330 treats the failure code having a higher failure level as a priority. Third, when different types of devices fail at the same time, the application layer 330 prioritizes fault codes with higher fault levels.

By performing such a failure code generation and a failure process, it is possible to improve the reliability so that the mobile can continuously drive except for the fourth failure level. In addition, fault isolation can be made to prevent a case where a fault is broken up after a fault has occurred. In addition, it is possible to accurately recognize the occurrence of a failure, and to perform various processes for failure according to the type and severity of the failure. In addition, when a plurality of failures occur, the severity of the failures can be accumulated and the behavior of the final mobile can be determined.

Meanwhile, the present invention can be embodied in computer readable code on a computer readable recording medium. A computer-readable recording medium includes all kinds of recording apparatuses in which data that can be read by a computer system is stored.

Examples of the computer-readable recording medium include a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device and the like, and also a carrier wave (for example, transmission via the Internet) . In addition, the computer-readable recording medium may be distributed over network-connected computer systems so that computer readable codes can be stored and executed in a distributed manner. In addition, functional programs, codes, and code segments for implementing the present invention can be easily deduced by programmers skilled in the art to which the present invention belongs.

The present invention has been described above with reference to preferred embodiments. It will be understood by those skilled in the art that the present invention may be embodied in various other forms without departing from the spirit or essential characteristics thereof. Therefore, the above-described embodiments should be considered in an illustrative rather than a restrictive sense. The scope of the present invention is indicated by the appended claims rather than by the foregoing description, and all differences within the scope of equivalents thereof should be construed as being included in the present invention.

All documents, including publications, patent applications, patents, etc., cited in the present invention may be incorporated into the present invention in the same manner as each cited document is shown individually and specifically in conjunction with one another, .

111: handle 112: acceleration pedal
113: Brake pedal 114:
120, 121a-123b: Wheels 130, 131-133: In-wheel motor
140, 141-146: Steering actuator 150: In-wheel motor control unit
160: Steering control unit 170:
180: communication unit 190:
310: physical layer 320: presentation layer
330: Application layer

Claims (11)

A physical layer for detecting various failures occurring in the mobile body;
A presentation layer for generating a failure code according to the failure characteristics and causes for each of the failure situations; And
And an application layer for displaying the fault status according to the fault code and for performing driving continuation or stop guidance or emergency stop processing of the moving object,
The application layer comprises:
When at least two or more failure codes generated by increasing the number of failures of the same type among devices of the same type are received, a process of increasing the failure level according to the number of failures of the components is performed,
When at least two or more of the generated failure codes are received due to an increase in the number of different kinds of parts failures among the devices of the same type, a failure code having a higher failure level is processed in a priority order,
Wherein when at least two or more of the generated failure codes are received due to the occurrence of a failure at the same time in different types of apparatuses, the failure processing mobile unit processes the failure codes having a higher failure level in a priority order. 2. The method of claim 1,
Detecting an effective range for the sensed value, comparing the measured value with a reference value, calculating the operation timing of the drive device including the actuator and the motor by the control command, detecting various failure situations related to physical breakage detection of the part / Wherein said faulty moving object is a faulty moving object. The method of claim 1, wherein the presentation layer comprises:
Generating the fault code including the type of the fault, the severity based on the failure mode and effect analysis (FMEA) table, the fault occurrence position, and the fault level calculated based on the information, for each of the fault situations Wherein the faulty moving object is a moving object. delete delete delete delete delete delete delete delete

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