Fault-tolerant tracking control method for four-wheel distributed electric drive automatic driving vehicle

Abstract

The invention provides a fault-tolerant tracking control method for a four-wheel distributed electric drive automatic driving vehicle. The method depends on a typical four-wheel distributed electric drive vehicle structure. Firstly, real-time acquisition of an output torque and a fault coefficient of a hub motor is realized through each vehicle-mounted sensor and each parameter observer; then whether the vehicle power system enters a fault state or not is determined, and if the hub motor is in the fault state, a set fault-tolerant tracking link is entered; and the fault mode of the current vehicle is judged, different control logics are adopted for different fault modes, and finally fault-tolerant control or emergency risk avoiding of the vehicle is achieved. Aiming at different fault conditions of a power system of the distributed electric drive automatic driving vehicle, different coping modes and control strategies are used for guaranteeing the stability and safety of the vehicle asmuch as possible, and the safety of passengers and goods is guaranteed.

Description

technical field [0001] The present application relates to the field of vehicle technology, in particular to a fault-tolerant tracking control method for a four-wheel distributed electric drive autonomous vehicle. Background technique [0002] When the four-wheel distributed electric drive self-driving vehicle follows the preset trajectory, one or more in-wheel motors fail, and there is no torque output or only part of the required driving torque can be provided, which will cause the vehicle to be under the original control law. It is difficult to track the preset trajectory, and there is even a risk of vehicle instability, which affects vehicle safety. [0003] At present, the fault handling method for four-wheel distributed electric drive self-driving vehicles is relatively simple. Generally, after diagnosing the fault information and obtaining the fault information level, it is processed according to the fault information level. When the fault level is low, active process...

AI Technical Summary

Problems solved by technology

[0002] When the four-wheel distributed electric drive self-driving vehicle follows the preset trajectory, one or more in-wheel motors fail, and there is no torque output or only part of the required driving torque can be provided, which will cause the vehicle to be under the original control law. It is difficult to track the preset trajectory, and there is even a risk of vehicle instability, which affects vehicle safety

However, for a four-wheel distributed electric drive self-driving vehicle, when its power system fails, it is often impossible to return to the vehicle maintenance point and can only perform emergency braking, and even if the failure level does not exceed the threshold, it may cause the vehicle to deviate from the preset trajectory , or even vehicle instability, accidents

Therefore, the existing fault handling measures for four-wheel distributed electric drive autonomous vehicles have certain safety risks.

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