SYSTEM AND METHOD FOR STEERING COMPENSATION
Systems and methods for performing steering compensation can include determining vehicle operation conditions, determining vehicle operations to perform in order to advance a vehicle along a desired trajectory, and performing the determined vehicle operations. The vehicle operations can include automated braking and torque vectoring. Torque vectoring can be performed using one or more differentials or one or more torque motors, each torque motor configured to apply torque to an individual wheel of the vehicle.
1 . A chassis control system of a vehicle comprising:
a first braking system configured to provide braking for the vehicle;
a second braking system configured to provide braking for the vehicle;
a first steering system configured to provide steering for the vehicle;
a second steering system configured to provide steering for the vehicle;
an Advanced Driver Assistance Systems (ADAS) configured to provide control signals to each of the first braking system, the second braking system, the first steering system, and the second steering system;
a first data bus connecting each of the first braking system, the second braking system, the first steering system, and the second steering system to the ADAS; and
a second data bus connecting each of the first braking system, the second braking system, the first steering system, and the second steering system to the ADAS;
wherein each of the first braking system, the second braking system, the first steering system, and the second steering system is connected to both the first data bus and the second data bus through a connection comprising a same pair of input and output pins.
2 . The chassis control system of claim 1 wherein the first braking system comprises an electronic stability program (ESP).
3 . The chassis control system of claim 2 , wherein the second braking system comprises an electric braking system separate from the ESP.
4 . The chassis control system of claim 1 , wherein the first steering system comprises an electronic power steering (EPS) system.
5 . The chassis control system of claim 4 , wherein the second steering system comprises an active rear steering (ARS) system.
6 . The chassis control system of claim 5 , wherein the EPS system and the ARS system are configured to steer the vehicle independent of each other.
7 . The chassis control system of claim 1 , wherein the ADAS is configured to communicate with at least one of the first braking system and second braking system and at least one of the first steering system and second steering system via one of the first data bus and the second data bus if the other of the first data bus and the second data bus fails.