A Distributed Drive Unmanned Vehicle Path Tracking Fault-Tolerant Control Method

Abstract

The invention provides a fault-tolerant control method for path tracking of a distributed drive unmanned vehicle. The method includes the following steps: modeling of a distributed drive unmanned vehicle; estimation of vehicle states; estimation of unknown fault input; path tracking fault tolerance control of a finished automobile; and optimal allocation of a tire force. In the control method, mathematical modeling is performed on a two-degree-of-freedom dynamics model, a path tracking model and an unknown fault input of the distributed drive unmanned vehicle. Then a vehicle state estimation method and an unknown fault input estimation method are designed, thereby providing information input for path tracking fault-tolerant control of the distributed drive unmanned vehicle, a path trackingfault-tolerant control method of the finished vehicle is designed, so that vehicle path tracking and vehicle stability control objectives can be achieved when an actuator fails, and finally, for solving the problem of actuator faults that may occur in a process of the path tracking of the distributed drive unmanned vehicle, an optimization allocation method of the tire force is designed and usedfor allocating longitudinal tire forces of four tires in real time.

Description

technical field [0001] The invention belongs to the field of unmanned vehicle research, and in particular relates to a path tracking fault-tolerant control method for a distributed drive unmanned vehicle. Background technique [0002] With the increasing maturity of control technology and the continuous improvement of drivers' requirements for safety, maneuverability and riding comfort, the intelligent research of vehicles has received extensive attention. The in-wheel motors of distributed drive electric vehicles have precise and fast torque response capabilities. This advantage provides more degrees of freedom for the dynamic control of the vehicle, which is conducive to the intelligent driving and stability control of ground unmanned vehicles. The ultimate development goal of unmanned vehicles is to achieve complete unmanned driving. During the path tracking process, unknown faults may occur in the actuators of the vehicle. Once the actuators fail or fail, such unknown fa...

AI Technical Summary

Problems solved by technology

The ultimate development goal of unmanned vehicles is to achieve complete unmanned driving. During the path tracking process, unknown faults may occur in the actuators of the vehicle. Once the actuators fail or fail, such unknown faults are likely to lead to path tracking. In the event of serious deviations and a reduction in the stability of the vehicle itself, the control performance of the entire control system may be reduced or even fail, and even cause serious road safety problems

For example, if the steering system of the vehicle fails, it will affect the steering movement of the vehicle, and even make the vehicle lose the ability to turn

At this time, the vehicle cannot follow the instructions given by the controller to perform steering maneuvers and track the ideal path

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