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Method for establishing muscle nerve driver model in steering fault-tolerant control

A technology of driver model and fault-tolerant control, applied in the field of establishment of musculoskeletal driver model, to achieve accurate and realistic control

Pending Publication Date: 2020-10-02
JIANGSU UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the driver model approach of muscular neurofeedback has not been applied to steering fault-tolerant control

Method used

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  • Method for establishing muscle nerve driver model in steering fault-tolerant control
  • Method for establishing muscle nerve driver model in steering fault-tolerant control
  • Method for establishing muscle nerve driver model in steering fault-tolerant control

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Embodiment Construction

[0027] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0028] The present invention is based on the steering failure fault-tolerant control system. In the case of steering failure, since the steering signal does not work, it is necessary to introduce a driver model to convert the desired motion trajectory into the desired dynamic response of the vehicle, and then distribute it through hierarchical control. The controller redistributes the torque so as to achieve the purpose of vehicle fault-tolerant control.

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Abstract

The invention provides a method for establishing a muscle nerve driver model in steering fault-tolerant control. The method comprises the following steps: giving ideal track input of vehicle motion; obtaining track input under the relative coordinates of the driver through the preview link of the driver driving the vehicle; introducing a driver compensation link, a driver nerve feedback hysteresislink and a driver muscle response time link into track input under the driver relative coordinates, and carrying out feedback control through the nerve feedback time hysteresis compensation link andthe muscle response time compensation link to obtain actual vehicle lateral displacement. According to the invention, the driver model which is more consistent with the actual operation process can beestablished, so that the operation condition of the driver can be reflected more truly, and the vehicle can be controlled more accurately and truly.

Description

technical field [0001] The invention relates to the technical field of vehicle control, in particular to a method for establishing a musculoskeletal driver model in steering fault-tolerant control. Background technique [0002] As an important means to improve system safety and reliability, fault-tolerant control theory has achieved a lot of research results so far, but in the related research of automotive control systems, it has gradually been paid attention to with the emergence of chassis-by-wire technology. . For electric vehicles with four-wheel independent drive and steering, fault-tolerant control plays a vital role. [0003] In the 1950s, foreign researchers first proposed the concept of driver model, and mainly studied the driver model of steering control. Domestically, academician Guo Konghui first proposed the theory of "preview-follow". With the development of control theory and the deepening of intelligent vehicle research, the driver model based on the "pre...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0221
Inventor 李广军濮超义赵景波陈杰
Owner JIANGSU UNIV OF TECH
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