Fault diagnosis and fault tolerant control method for automobile electronic stable control system sensors
A sensor failure and fault-tolerant control technology, applied to vehicle components, transportation and packaging, circuits or fluid pipelines, etc., can solve problems such as inability to actively adjust vehicle status, active braking of wheels, and potential safety hazards of vehicles
Active Publication Date: 2015-11-11
TSINGHUA UNIV
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Problems solved by technology
When any sensor in the steering wheel angle sensor, yaw rate sensor and lateral acceleration sensor fails, the safety of the car will be reduced. The reasons include two aspects: (1) if the vehicle is in a stable state and the sensor fails, The electronic stability control system will be falsely triggered due to wrong signals, and the wheels will actively brake, which will affect driving safety; (2) If the electronic stability control system can identify sensor failures, but cannot perform fault-tolerant control, when the vehicle enters an unstable state, the electronic stability control system will The control system fails, and the vehicle status cannot be actively adjusted, and the car has serious safety hazards
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[0087] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.
[0088] Such as figure 1 , figure 2 As shown, the present invention provides a kind of automotive electronic stability control system sensor fault diagnosis and fault-tolerant control method, comprising the following steps:
[0089] 1) Set up the vehicle electronic stability control system sensor fault diagnosis system, which includes steering wheel angle sensor 1, yaw rate sensor 2, lateral acceleration sensor 3, steering wheel angle estimation module 4, steering wheel angle sensor diagnosis module 5, yaw rate estimation module 6. Yaw rate diagnosis module 7 , lateral acceleration estimation module 8 , lateral acceleration diagnosis module 9 and fault-tolerant control module 10 .
[0090] 2) Set the steering wheel angle threshold Δδ (Threshold) , yaw rate threshold Δγ (Threshold) , lateral acceleration threshold Δa y(Threshold) and time threshol...
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The invention relates to a fault diagnosis and fault tolerant control method for automobile electronic stable control system sensors. The method includes the steps that a fault diagnosis system of the automobile electronic stable control system sensors is arranged; a steering wheel turn angle threshold value, a yaw velocity threshold value, a lateral acceleration threshold value and a time threshold value are set; a steering wheel turn angle actual value is measured, a steering wheel turn angle estimation value is estimated, and a steering wheel turn angle residual error is calculated; the steering wheel turn angle residual error and the steering wheel turn angle threshold value are compared to determine whether a fault occurs on the steering wheel turn angle sensor. A yaw velocity actual value is measured, a yaw velocity estimation value is estimated, and a yaw velocity residual error and the yaw velocity threshold value are compared to determine whether a fault occurs on the yaw velocity sensor. A lateral acceleration actual value is measured, a lateral acceleration estimation value is estimated, and a lateral acceleration residual error and the lateral acceleration threshold value are compared to determine whether a fault occurs on the lateral acceleration sensor. The method can be widely applied to automobile sensor fault diagnosis and fault tolerant control.
Description
technical field [0001] The invention relates to a vehicle sensor fault diagnosis and fault-tolerant control method, in particular to a vehicle electronic stability control system sensor fault diagnosis and fault-tolerant control method. Background technique [0002] The automotive electronic stability control system (ESC) is an important active safety system in the field of automotive technology. It is a further expansion of the functions of the automotive anti-lock braking system (ABS) and traction control system (TCS). On this basis, the steering wheel is added Angle sensor, yaw rate sensor and lateral acceleration sensor. When the signals from the steering wheel angle sensor, lateral acceleration sensor and yaw rate sensor indicate that the car is understeering or oversteering, the electronic stability control system will control one or more wheels for active braking, adjust the body posture of the car, and keep the car stable state, thereby ensuring the safety of the ca...
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IPC IPC(8): B60R16/023B60W30/045
CPCB60R16/0232B60W30/045
Inventor 李亮李辉赵洵刘力福陆逸适高荣
Owner TSINGHUA UNIV