Device and method for detecting abnormality of wheel actuating motor, and computer-readable storage medium storing program for performing the method

A computerized method comprising:

• inputting input data, related to steering of a vehicle, to an artificial neural network model;
• obtaining estimation data, related to the steering of the vehicle, from the artificial neural network model;
• and
• detecting whether a wheel actuating motor included in a steer-by-wire system of the vehicle configured to generate a driving force for steering a wheel of the vehicle is in an abnormal state by comparing the estimation data with actual measurement data related to the steering of the vehicle,
• wherein the input data related to the steering of the vehicle includes one or more among a speed of the vehicle, a steering angle of a steering wheel of the vehicle, or a propulsive force of a rack configured to be movable by the driving force generated by the wheel actuating motor to move the wheel of the vehicle;
• the estimation data related to the steering of the vehicle includes a first estimation value for a first residual which is a difference between a command value for a rack position determined to correspond to the input data and a measurement value for the rack position;
• and
• the actual measurement data includes a first actual measurement value which is an actual measurement value for the first residual.

A non-transitory computer-readable storage medium configured to instructions that when executed by one or more processors, cause the one or more processors to perform operations comprising:

• inputting input data, related to steering of a vehicle, to an artificial neural network model;
• obtaining estimation data, related to the steering of the vehicle, from the artificial neural network model;
• and
• detecting whether a wheel actuating motor included in a steer-by-wire system of the vehicle configured to generate a driving force for steering a wheel of the vehicle is in an abnormal state by comparing the estimation data with actual measurement data related to the steering of the vehicle,
• wherein the input data related to the steering of the vehicle includes one or more among a speed of the vehicle, a steering angle of a steering wheel of the vehicle, or a propulsive force of a rack configured to be movable by the driving force generated by the wheel actuating motor to move the wheel of the vehicle;
• the estimation data related to the steering of the vehicle includes a first estimation value for a first residual which is a difference between a command value for a rack position determined to correspond to the input data and a measurement value for the rack position;
• and
• the actual measurement data includes a first actual measurement value which is an actual measurement value for the first residual.