Fault-tolerant control method for fault of vehicle stable system executor

Abstract

The invention discloses a fault-tolerant control method for a fault of a vehicle stable system executor. The method comprises the following steps that running state information of a vehicle is collected, according to a two-freedom-degree vehicle model, reference value of the state quantity is calculated out, the error between the reference value of the state quantity and actual value serves as input of an upper layer vehicle tracking controller, through an optimal control method, resultant force and resultant moment of a current working condition are obtained, distribution is carried out to obtain tire force, through the ratio of the tire acceleration, the angle between the tire force is obtained, and in combination with the current working condition and the road surface friction coefficient, a current tire force feasible region is calculated; the variable amount of the tire force after the fault of the executor is introduced into a whole vehicle dynamic condition, and a tire force fault-tolerant feasible region after the fault can be obtained; and whether the currently-needed tire force meets the tire force fault-tolerant feasible region constraint or not is judged, according to different conditions, the fault-tolerant control method is taken to adjust the vehicle running state to meet the tire force fault-tolerant feasible region constraint, and the vehicle running state needs can be met to the maximum degree.

Description

technical field [0001] The invention belongs to the technical field of vehicle active safety control, and provides a fault-tolerant control method for actuator failure of a vehicle stability system, in particular to a fault-tolerant method for vehicle instability and limited execution drive space caused by a vehicle stability system actuator failure Control Method. Background technique [0002] As more and more attention is paid to vehicle stability, fault diagnosis and fault-tolerant control of vehicle driving system have important research significance. In the field of automatic driving and assisted driving, the safe and stable operation of vehicles is particularly important. Vehicle Stability Control (ESC) is currently the most widely used active safety control system. When the vehicle detects that it is slipping, even if the driver does not brake, the system will actively brake the wheels to prevent dangerous situations. There was an accident. The actuator of the vehi...

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Problems solved by technology

[0004] The technology of the present invention solves the problem: the feasible range of tire force is planned through the normal driving state of the vehicle. When the actuator failure occurs in the stability control system while the vehicle is running, the tire force exceeds its feasible range, causing the vehicle to become unstable, and the tire force exceeds its feasible range. , through the fault-tolerant control method to optimize the distribution of tire force, when the optimal distribution cannot achieve the tire force within the feasible range, the optimal controller and the adjustment of system input are adopted to keep the vehicle running as safely as possible under the condition of reduced performance

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