Fault-tolerant control method for collaborative adaptive cruise control expected function safety

Abstract

The invention discloses a fault-tolerant control method and device for collaborative adaptive cruise control expected function safety, and the method comprises the steps: building an augmented state space model including radar sensor and control execution system performance defects which takes a radar sensor and a vehicle-mounted inertial measurement unit as feedback input, V2X collaborative information as feed-forward input, and takes a relative distance error, a relative speed and a self-vehicle acceleration as output ; constructing a transfer parameter estimator, an augmented state estimator and a control execution performance defect estimator on the basis of the model, and estimating the augmented state and the performance defect of the cooperative adaptive cruise control system in real time; and comprehensively calculating an online active fault-tolerant control rate, inputting the online active fault-tolerant control rate into a vehicle chassis control system, and generating an accelerator pedal opening degree and a brake pedal opening degree. The situation cognition and scene adaptability of the cooperative adaptive cruise control function can be enhanced, so that the cooperative adaptive cruise control function can still operate safely and stably under the condition of multiple performance defects, and the expected function safety of the function is guaranteed.

Description

technical field [0001] The invention relates to the technical field of intelligent networked vehicles, in particular to a fault-tolerant control method and device for cooperative adaptive cruise control with expected functional safety. Background technique [0002] The development of intelligence and information technology has promoted the innovation of intelligent networked vehicles. In recent years, many intelligent networked vehicle technologies have been proposed. Among them, cooperative adaptive cruise control realizes multi-vehicle interconnection by expanding V2V communication, so as to shorten the following time, improve road traffic efficiency, and reduce energy consumption. The closest thing to a final form of connected car technology. [0003] Safety is fundamental to the operation of an ICV, therefore unreasonable risks due to the intended functionality and its implementation must be reduced to an acceptable level. Intelligent networked vehicles rely on advance...

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Problems solved by technology

[0005] For this reason, an object of the present invention is to propose a kind of fault-tolerant control method oriented to cooperative adaptive cruise control anticipatory functional safety, this method solves the problem that due to the perception sensor and wire control execution device in the actual operation process of cooperative adaptive cruise control Unreasonable risks such as vehicle collisions caused by design defects

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