1results about How to "Guaranteed steering performance" patented technology

The application relates to the technical field of automobile control, in particular to a safety control method, system and device for automatic steering of an unmanned vehicle, wherein, in the safety control method, in the case that an actuator attack occurs in the automatic steering control process of the unmanned vehicle, it is assumed that the actuator attack signal has no specific assumption rule, the accurate actual attack signal is obtained after nonlinear mapping and weighted summation processing in a neural network method, the actual control signal input under the actuator attack is constructed based on the actual attack signal, then the integral sliding mode strategy is used to design a sliding mode reaching law, the sliding mode controller signal is constructed in combination with the actual attack signal, and the sliding mode controller safety signal range is obtained in combination with the derivative of the designed Lyapunov function, so that the unmanned vehicle can be automatically and safely steered under the actuator attack, and the safety control of the automatic steering of the unmanned vehicle is realized.