A multi-vehicle fault-tolerant switching control method and device with preset performance recovery

Abstract

The present invention discloses a multi-vehicle fault-tolerant switching control method and device with preset performance recovery, the method comprising: obtaining vehicle state parameters, constructing a vehicle longitudinal dynamics equation according to the vehicle state parameters, and obtaining a multi-vehicle consistency error equation based on the vehicle longitudinal dynamics equation; constructing a preset performance boundary function according to the multi-vehicle consistency error equation, and constructing a sliding mode controller based on an obstacle function according to the preset performance boundary function; switching the backup actuator to obtain a preset time after a vehicle failure, and obtaining an error shift function according to the vehicle failure data and the expected error constraint boundary, and obtaining a multi-vehicle synchronization error based on the error shift function; inputting the multi-vehicle synchronization error into the sliding mode controller, and based on the error tolerance of the sliding mode controller, the multi-vehicle synchronization error achieves preset performance recovery. The present invention can further improve the safety of the failure operation control of the networked multi-vehicle system and solve the problem of unstable switching of redundant controllers under constraint conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of fleet collaborative control and fault-tolerant control, and in particular to a multi-vehicle fault-tolerant switching control method, device, equipment and storage medium with preset performance recovery. Background Art

[0002] With the increase in the popularity of vehicles, road traffic conditions have deteriorated sharply. At present, the traffic environment faces problems such as air pollution, traffic congestion and long travel time. Vehicle platooning is an effective way to relieve traffic pressure, improve traffic efficiency and reduce pollutant emissions. Networked vehicles are interconnected through vehicle-to-vehicle mobile communication equipment (V2V). Vehicles connected through the network share necessary information such as speed and position with each other to achieve the goal of coordinated movement of vehicles according to a certain preset strategy. Therefore, the vehicle platoon has certain performance requirements for its synchronization speed and position error. When the vehicles in the multi-vehicle system operate normally, their errors will be kept within the preset error range.

[0003] At present, most of the research on multi-vehicle platooning assumes that the vehicles are operating under normal conditions, and does not consider how the vehicle platoon can maintain consistency or degrade operation after a fault occurs. After a vehicle in the platoon fails, the backup original device will be activated because the original faulty component cannot effectively provide the expected torque output. Since a certain switching time is required from the occurrence of the fault to the activation of the backup original device, during this time interval, the vehicle actuator output will be reduced to 0, the original performance boundary of the vehicle will be violated, and the consistency of the multi-vehicle system will be destroyed. As a result, it is very easy to cause the platoon to become unstable and even cause serious traffic accidents such as chain collisions. Existing vehicle platoon fault-tolerant control often only focuses on the fault-tolerant control effect, but ignores the situation in which the preset error boundary is violated and the vehicle becomes unstable due to the existence of switching time during the switching of the backup actuator. Summary of the invention

[0004] The present invention aims to solve one of the technical problems in the related art to a certain extent.

[0005] To this end, the purpose of the present invention is to propose a multi-vehicle fault-tolerant switching control method with preset performance recovery, focusing on how to restore the multi-vehicle synchronization error performance to the original error band within a specified limited time when the backup actuator switches non-ideally after an actuator failure occurs in a networked multi-vehicle queue. Through the present invention, the safety of the failure operation control of the networked multi-vehicle system can be further improved, and the problem of unstable switching of redundant controllers under constraint conditions can be solved.

[0006] To achieve the above-mentioned object, the present invention proposes, on one hand, a multi-vehicle fault-tolerant switching control method with preset performance recovery, comprising:

[0007] Acquiring vehicle state parameters, constructing a vehicle longitudinal dynamics equation according to the vehicle state parameters, and obtaining a multi-vehicle consistency error equation based on the vehicle longitudinal dynamics equation;

[0008] Constructing a preset performance boundary function according to the multi-vehicle consistency error equation, and constructing a sliding mode controller based on an obstacle function according to the preset performance boundary function;

[0009] After a vehicle fails, the backup actuator is switched to obtain a preset time, and an error shift function is obtained according to vehicle failure data and an expected error constraint boundary, and a multi-vehicle synchronization error is obtained based on the error shift function;

[0010] The multi-vehicle synchronization error is input into the sliding mode controller, and based on the error tolerance of the sliding mode controller, the multi-vehicle synchronization error is enabled to achieve preset performance recovery.

[0011] The multi-vehicle fault-tolerant switching control method with preset performance recovery according to an embodiment of the present invention may also have the following additional technical features:

[0012] Furthermore, obtaining the multi-vehicle consistency error equation based on the vehicle longitudinal dynamics equation includes: acquiring vehicle data; wherein the vehicle data includes at least one of the following data: algebraic graph theory data, braking safety distance constraint data and vehicle-to-vehicle communication topology structure data; and calculating the vehicle data using the vehicle longitudinal dynamics equation to obtain the multi-vehicle consistency error equation.

[0013] Furthermore, after constructing the preset performance boundary function according to the multi-vehicle consistency error equation, the method further includes: obtaining the original conversion error according to the error transformation formula.

[0014] Furthermore, the multi-vehicle synchronization error is input into the sliding mode controller, and based on the error coordination of the sliding mode controller, the multi-vehicle synchronization error is restored to a preset performance, including: obtaining a composite error according to the error shift function and the original conversion error; inputting the composite error number into the sliding mode controller for fault tolerance comparison with the original conversion error, and restoring the multi-vehicle synchronization error to the constraint boundary of a preset performance function within a preset time according to the fault tolerance result.

[0015] To achieve the above object, the present invention proposes, on the other hand, a multi-vehicle fault-tolerant switching control device with preset performance recovery, comprising:

[0016] a parameter calculation module, used for obtaining vehicle state parameters, constructing a vehicle longitudinal dynamics equation according to the vehicle state parameters, and obtaining a multi-vehicle consistency error equation based on the vehicle longitudinal dynamics equation;

[0017] A controller construction module, used to construct a preset performance boundary function according to the multi-vehicle consistency error equation, and to construct a sliding mode controller based on an obstacle function according to the preset performance boundary function;

[0018] A fault determination module is used to switch the backup actuator to a preset time after a vehicle fault occurs, obtain an error shift function according to the vehicle fault data and the expected error constraint boundary, and obtain a multi-vehicle synchronization error based on the error shift function;

[0019] The performance recovery module is used to input the multi-vehicle synchronization error into the sliding mode controller, and based on the error tolerance of the sliding mode controller, the multi-vehicle synchronization error can achieve a preset performance recovery.

[0020] The present invention also provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the multi-vehicle fault-tolerant switching control method with preset performance recovery as described in any one of the above are implemented.

[0021] The present invention also provides a non-temporary computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of a multi-vehicle fault-tolerant switching control method for preset performance recovery are implemented.

[0022] The multi-vehicle fault-tolerant switching control method with preset performance recovery in the embodiment of the present invention can effectively solve the problem of violating the original error constraint after the non-ideal switching of the faulty actuator, and can quickly recover to the original error boundary within a specified time after the backup actuator is activated, which can effectively improve the safety of failed operation. The present invention is not aimed at special vehicle models and special working conditions, has high practicality, and all expressions are analytical solutions, with low calculation cost, and broad prospects for real vehicle application.

[0023] The beneficial effects of the present invention are:

[0024] 1) The multi-vehicle collaborative fault-tolerant switching control method with preset performance recovery proposed in the present invention increases the constraints on the queue performance synchronization error, which can meet the personalized needs of users and effectively improve the safety of multi-vehicle collaborative operation.

[0025] 2) The control method of the present invention includes a consistent sliding mode controller based on a barrier function and an error shift function. With the help of this controller, the consistency error of multiple vehicles can be kept within the performance boundary preset by the user. At the same time, the error shift function can convert the out-of-bounds error after non-ideal switching into the preset performance boundary, so that there is no need to redefine the performance boundary and design the function, and achieve fault-tolerant recovery after failure;

[0026] 3) The present invention takes into account the influence of the switching time of the backup actuator on the constraint performance control method, which is more suitable for actual use and makes the method more practical.

[0027] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0029] Figure 1 A flow chart of a multi-vehicle fault-tolerant switching control method for preset performance recovery according to an embodiment of the present invention;

[0030] Figure 2 A specific flow chart of a multi-vehicle fault-tolerant switching control method for preset performance recovery according to an embodiment of the present invention;

[0031] Figure 3 A schematic diagram of multi-vehicle cooperative driving based on a vehicle queue according to an embodiment of the present invention;

[0032] Figure 4 2 is a schematic diagram of the structure of a multi-vehicle fault-tolerant switching control device with preset performance recovery according to an embodiment of the present invention;

[0033] Figure 5 A computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0034] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0035] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0036] The following describes a multi-vehicle fault-tolerant switching control method, device, computer equipment, and storage medium with preset performance recovery according to an embodiment of the present invention with reference to the accompanying drawings.

[0037] Figure 1 It is a flow chart of a multi-vehicle fault-tolerant switching control method with preset performance recovery according to an embodiment of the present invention.

[0038] like Figure 1 As shown, the method includes but is not limited to the following steps:

[0039] S1, obtaining vehicle state parameters, constructing a vehicle longitudinal kinematics equation according to the vehicle state parameters, and obtaining a multi-vehicle consistency error equation based on the vehicle longitudinal kinematics equation;

[0040] S2, constructing a preset performance boundary function according to the multi-vehicle consistency error equation, and constructing a sliding mode controller based on the obstacle function according to the preset performance boundary function;

[0041] S3, after a vehicle fails, the backup actuator is switched to obtain a preset time, and an error shift function is obtained according to the vehicle failure data and the expected error constraint boundary, and a multi-vehicle synchronization error is obtained based on the error shift function;

[0042] S4, inputting the multi-vehicle synchronization error into the sliding mode controller, and based on the error tolerance of the sliding mode controller, the multi-vehicle synchronization error is restored to a preset performance.

[0043] Furthermore, in S1, vehicle data is obtained; wherein the vehicle data includes at least one of the following data: algebraic graph theory data, braking safety distance constraint data and vehicle-to-vehicle communication topology structure data; the vehicle data is calculated using the vehicle longitudinal dynamics equation to obtain a multi-vehicle consistency error equation.

[0044] Further, in S2, the original conversion error is obtained according to the error transformation formula.

[0045] Furthermore, in S3, a composite error is obtained based on the error shift function and the original conversion error; the composite error number is input into the sliding mode controller for fault tolerance comparison with the original conversion error, and according to the fault tolerance result, the multi-vehicle synchronization error is restored to the constraint boundary of the preset performance function within a preset time.

[0046] The multi-vehicle fault-tolerant switching control method with preset performance recovery in the embodiment of the present invention can effectively solve the problem of violating the original error constraint after the non-ideal switching of the faulty actuator, and can quickly recover to the original error boundary within a specified time after the backup actuator is activated, which can effectively improve the safety of failed operation. The present invention is not aimed at special vehicle models and special working conditions, has high practicality, and all expressions are analytical solutions, with low calculation cost, and broad prospects for real vehicle application.

[0047] The multi-vehicle fault-tolerant switching control method with preset performance recovery according to an embodiment of the present invention is described in detail below with reference to the accompanying drawings.

[0048] like Figure 2 As shown in the figure, the consistency error equation is constructed by combining the vehicle state equation with the vehicle communication topology. Based on the consistency error equation and the preset performance function, a switching fault-tolerant controller is designed under the preset error boundary to complete the multi-vehicle collaborative fault-tolerant control and restore the multi-vehicle error to the original boundary within the specified time. The specific implementation steps are:

[0049] As an example, the following vehicle longitudinal dynamics equation is constructed to design the vehicle braking distance strategy to ensure a safe braking distance.

[0050] Among them, the dynamic equation of the i-th vehicle in cooperative driving can be expressed as:

[0051]

[0052] As an example, based on the vehicle longitudinal dynamics equation and combined with algebraic graph theory knowledge, a braking safety distance constraint is introduced, and according to the vehicle-to-vehicle communication topology, the multi-vehicle collaborative braking consistency error equation is obtained.

[0053] Specifically, the consistency error equation of the i-th vehicle in multi-vehicle cooperative driving can be expressed as:

[0054]

[0055] Substituting into the vehicle dynamics equation and taking the derivative of the above equation, we can obtain the multi-vehicle consistency error dynamics equation as follows:

[0056]

[0057] In the formula, e i1 , e i2 Respectively represent the vehicle position synchronization error and speed synchronization error, m i is the mass of the i-th vehicle, u i is the braking force input of the i-th vehicle. The coefficient l in the above formula is ij and b i Related to the convoy communication topology, f(t) is a function of vehicle wind resistance, rolling resistance, and nonlinear disturbances of the road surface. is the derivative of the velocity of the jth vehicle, u0 is the braking deceleration input of the leading vehicle, It represents the derivative of the position and speed synchronization error, and n is the number of vehicles following the lead vehicle.

[0058] As an example, according to different designer requirements, the preset performance functions Δ for the synchronous position and speed error of multiple vehicles are designed respectively. 1i ,Δ 2i , error transformation is introduced, and a sliding mode controller based on obstacle function is designed to ensure that multi-vehicle cooperative driving meets the preset performance constraints.

[0059] Specifically, the error conversion can be expressed as:

[0060]

[0061] z 1i ,z 2i is the synchronization error variable after conversion.

[0062] Sliding surface s based on obstacle function i Can be designed as:

[0063]

[0064] Where p, q are power exponents and satisfy p∈(0,1),q>1. Then the sliding mode controller can be designed as:

[0065]

[0066] In the formula, Γ 1i , Γ 2i is an intermediate variable, and its expression is shown above. The parameter α∈(0,1) is the power exponent term, To follow the uncertain disturbance in vehicle i, the disturbance observer can be used to estimate it online, which will not be described in detail here. Under the action of this controller, the networked multi-vehicle system will operate within the constraints of the preset synchronization error performance function.

[0067] As an example, suppose that at time t r An actuator failure occurs, such as a vehicle electric brake failure, and after a period of time T reaction After that, at t r The backup executor is activated and starts to execute, and the conversion synchronization error at the current moment is recorded as z 1i (t r ),z 2i (t r ), define the error shift function Φ ki (t) is:

[0068]

[0069] in is the expected performance recovery time, parameter ∈ ki The expression is:

[0070]

[0071] where inf(·) represents the lower bound of the function ·.

[0072] Furthermore, the error shift function Φ ki (t) multiplied by the original conversion error z 1i ,z 2i , then we can get the new composite error The composite error is introduced into the original conversion error z in the sliding mode controller in step S3 1i ,z 2i The multi-vehicle synchronization error can be reduced within the specified time. Restore to preset performance function Δ1i ,Δ 2i within the constraint boundaries.

[0073] Furthermore, if Figure 3 The figure shows a schematic diagram of the design of a multi-vehicle cooperative driving scenario based on a vehicle platoon. A typical platoon cooperative control scenario includes but is not limited to a leading vehicle and N following vehicles. N,N-1 , ΔP N-1,N-2 ... represents the preset braking safety distance between the two vehicles. Without loss of generality, this embodiment adopts a non-time-varying braking safety distance strategy. N ,u N-1 ... represents the control input of each following vehicle, that is, the total braking force required by each following vehicle. S N,N-1 , S N-1,N-2 ... represents the tracking error of the distance between two adjacent vehicles. Through the fault-tolerant control strategy of this embodiment for the control of the scene where the vehicle actuator fails, the fleet can complete the fault-tolerant control task within a limited time, ensuring that the vehicle queue can still maintain a consistent state, stable and fast driving in the critical scene where the failure occurs.

[0074] According to the multi-vehicle fault-tolerant switching control method with preset performance recovery of the embodiment of the present invention, the longitudinal dynamics equation of the vehicle is obtained, the braking safety distance constraint is set, and the coordinated braking consistency error equation of the fleet is obtained; the desired multi-vehicle queue preset performance function is selected, and the vehicle operation error boundary is specified; according to the multi-vehicle coordinated braking consistency error equation, a sliding mode controller based on the obstacle function is designed; after the fault occurs, the current conversion error is recorded at the moment when the backup actuator is activated and the error shift function is designed; the error shift function is multiplied by the original conversion error to construct a composite error; finally, the composite error is brought into the original sliding mode controller, which can ensure that the synchronization error is restored to the original preset error function boundary within the specified time. It can further improve the safety of the failure operation control of the networked multi-vehicle system and solve the problem of unstable switching of redundant controllers under constraint conditions.

[0075] In order to implement the above embodiment, Figure 4 As shown, this embodiment also provides a multi-vehicle fault-tolerant switching control device with preset performance recovery. The device 10 includes: a parameter calculation module 100, a controller construction module 200, a fault determination module 300 and a performance recovery module 400.

[0076] The parameter calculation module 100 is used to obtain vehicle state parameters, construct a vehicle longitudinal kinematics equation according to the vehicle state parameters, and obtain a multi-vehicle consistency error equation based on the vehicle longitudinal kinematics equation;

[0077] A controller construction module 200, for constructing a preset performance boundary function according to a multi-vehicle consistency error equation, and constructing a sliding mode controller based on an obstacle function according to the preset performance boundary function;

[0078] A fault determination module 300 is used to switch the backup actuator to a preset time after a vehicle fault occurs, obtain an error shift function according to vehicle fault data and an expected error constraint boundary, and obtain a multi-vehicle synchronization error based on the error shift function;

[0079] The performance recovery module 400 is used to input the multi-vehicle synchronization error into the sliding mode controller, and based on the error tolerance of the sliding mode controller, the multi-vehicle synchronization error can achieve a preset performance recovery.

[0080] Furthermore, the parameter calculation module 100 is also used for:

[0081] Acquire vehicle data; wherein the vehicle data includes algebraic graph theory data, braking safety distance constraint data and vehicle-to-vehicle communication topology structure data;

[0082] The vehicle longitudinal kinematics equation is used to calculate the vehicle data and obtain the multi-vehicle consistency error equation.

[0083] Furthermore, the device 10 also includes an error conversion module, which is used to obtain the original conversion error according to the error transformation formula.

[0084] Furthermore, the performance recovery module 400 is also used for:

[0085] According to the error shift function and the original conversion error, the composite error is obtained;

[0086] The composite error number is input into the sliding mode controller for fault tolerance comparison with the original conversion error. According to the fault tolerance result, the multi-vehicle synchronization error is restored to the constraint boundary of the preset performance function within the preset time.

[0087] The multi-vehicle fault-tolerant switching control device with preset performance recovery according to the embodiment of the present invention can further improve the safety of failure operation control of the networked multi-vehicle system and solve the problem of unstable switching of redundant controllers under constraint conditions.

[0088] In order to implement the method of the above embodiment, the present invention also provides a computer device, such as Figure 5 As shown, the computer device 600 includes a memory 601 and a processor 602; wherein the processor 602 runs a program corresponding to the executable program code by reading the executable program code stored in the memory 601, so as to implement the various steps of the multi-vehicle fault-tolerant switching control with preset performance recovery described above.

[0089] In order to implement the method of the above embodiment, the present invention also provides a non-temporary computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, a multi-vehicle fault-tolerant switching control method with preset performance recovery is implemented.

[0090] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0091] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0092] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A multi-vehicle fault-tolerant switching control method with preset performance recovery, characterized in that: The following steps are involved: Acquiring vehicle state parameters, constructing a vehicle longitudinal dynamics equation according to the vehicle state parameters, and obtaining a multi-vehicle consistency error equation based on the vehicle longitudinal dynamics equation; Constructing a preset performance boundary function according to the multi-vehicle consistency error equation, and constructing a sliding mode controller based on an obstacle function according to the preset performance boundary function; After a vehicle fails, the backup actuator is switched to obtain a preset time, and an error shift function is obtained according to vehicle failure data and an expected error constraint boundary, and a multi-vehicle synchronization error is obtained based on the error shift function; Inputting the multi-vehicle synchronization error into the sliding mode controller, and enabling the multi-vehicle synchronization error to achieve preset performance recovery based on the error tolerance of the sliding mode controller; After constructing the preset performance boundary function according to the multi-vehicle consistency error equation, the method further includes: obtaining the original conversion error according to the error transformation formula; According to different designer needs, design the synchronous position of multiple vehicles and preset performance boundary functions , introduce error conversion and design a sliding mode controller based on obstacle function to ensure that multi-vehicle cooperative driving meets the preset performance constraints; The error transformation formula is: is the original conversion error; , Respectively represent the vehicle position synchronization error and speed synchronization error; Sliding surface based on obstacle function Designed for: in is a power index and satisfies ; Then the sliding mode controller is designed as: In the formula, is an intermediate variable, parameter is the power term, To follow the vehicle Uncertain disturbances in It is The quality of the vehicle; For the The braking force input of the vehicle; assuming that at time Actuator failure occurs, vehicle electric brake fails, after a period of time After that, The backup executor is activated and starts to execute, and the original conversion error at the current moment is recorded as , define the error shift function for: in is the expected performance recovery time, parameter The expression is: in Represents a function The lower bound of .

2. The method according to claim 1, characterized in that The multi-vehicle consistency error equation obtained based on the vehicle longitudinal dynamics equation includes: Acquire vehicle data; wherein the vehicle data includes at least one of the following: algebraic graph theory data, braking safety distance constraint data, and vehicle-to-vehicle communication topology data; The vehicle data is calculated using the vehicle longitudinal dynamics equation to obtain the multi-vehicle consistency error equation.

3. The method according to claim 1, characterized in that The method of obtaining a multi-vehicle synchronization error based on the error shift function, inputting the multi-vehicle synchronization error into the sliding mode controller, and restoring the multi-vehicle synchronization error to a preset performance based on the error coordination of the sliding mode controller includes: Obtaining a composite error according to the error shift function and the original conversion error; The composite error is input into the sliding mode controller for fault tolerance comparison with the original conversion error, and according to the fault tolerance result, the multi-vehicle synchronization error is restored to the constraint boundary of the preset performance boundary function within a preset time.

4. A multi-vehicle fault-tolerant switching control device with preset performance recovery, characterized in that: The following steps are involved: a parameter calculation module, used for acquiring vehicle state parameters, constructing a vehicle longitudinal dynamics equation according to the vehicle state parameters, and obtaining a multi-vehicle consistency error equation based on the vehicle longitudinal dynamics equation; A controller construction module, used to construct a preset performance boundary function according to the multi-vehicle consistency error equation, and to construct a sliding mode controller based on an obstacle function according to the preset performance boundary function; A fault determination module is used to switch the backup actuator to a preset time after a vehicle fault occurs, obtain an error shift function according to vehicle fault data and an expected error constraint boundary, and obtain a multi-vehicle synchronization error based on the error shift function; A performance recovery module, used for inputting the multi-vehicle synchronization error into the sliding mode controller, and achieving preset performance recovery of the multi-vehicle synchronization error based on the error tolerance of the sliding mode controller; The device also includes an error conversion module, which is used to obtain the original conversion error according to the error conversion formula; According to different designer needs, design the synchronous position of multiple vehicles and preset performance boundary functions , introduce error conversion and design a sliding mode controller based on obstacle function to ensure that multi-vehicle cooperative driving meets the preset performance constraints; The error transformation formula is: is the original conversion error; , Respectively represent the vehicle position synchronization error and speed synchronization error; Sliding surface based on obstacle function Designed for: in is a power index and satisfies ; Then the sliding mode controller is designed as: In the formula, is an intermediate variable, parameter is the power term, To follow the vehicle Uncertain disturbances in It is The quality of the vehicle; For the The braking force input of the vehicle; assuming that at time Actuator failure occurs, vehicle electric brake fails, after a period of time After that, The backup executor is activated and starts to execute, and the original conversion error at the current moment is recorded as , define the error shift function for: in is the expected performance recovery time, parameter The expression is: in Represents a function The lower bound of .

5. The device according to claim 4, characterized in that The parameter calculation module is also used for: Acquire vehicle data; wherein the vehicle data includes at least one of the following data: algebraic graph theory data, braking safety distance constraint data, and vehicle communication topology structure data; The vehicle data is calculated using the vehicle longitudinal dynamics equation to obtain the multi-vehicle consistency error equation.

6. The device according to claim 5, characterized in that The method of obtaining a multi-vehicle synchronization error based on the error shift function, inputting the multi-vehicle synchronization error into the sliding mode controller, and restoring the multi-vehicle synchronization error to a preset performance based on the error coordination of the sliding mode controller includes: Obtaining a composite error according to the error shift function and the original conversion error; The composite error is input into the sliding mode controller for fault tolerance comparison with the original conversion error, and according to the fault tolerance result, the multi-vehicle synchronization error is restored to the constraint boundary of the preset performance boundary function within a preset time.

7. A computer device, characterized in that: including a processor and a memory; The processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the multi-vehicle fault-tolerant switching control method with preset performance recovery as described in any one of claims 1-3.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, a multi-vehicle fault-tolerant switching control method with preset performance recovery according to any one of claims 1 to 3 is implemented.

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