A distributed drive vehicle failure condition automatic processing system and method

Abstract

The present invention discloses a system and method for automatically processing the failure working condition of a distributed drive vehicle. The system comprises: a vehicle status information acquisition unit, a data processing unit, a data analysis unit, and an automatic processing unit; the vehicle status information acquisition unit is used to collect the status data of the distributed drive vehicle and send it to the data processing unit; the data processing unit is used to process the status data and send the processing result to the data analysis unit; the data analysis unit analyzes the working condition of the distributed drive vehicle, identifies and determines the failure working condition, and sends the failure working condition classification type to the automatic processing unit; the automatic processing unit controls the distributed drive vehicle according to the failure working condition classification type and automatically processes the vehicle failure working condition.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle control, and in particular relates to a system and method for automatically processing failure conditions of a distributed drive vehicle. Background Art

[0002] In the distributed drive system of a distributed drive vehicle, the number of drive components is greater than that of a centralized drive system. For the whole vehicle design of a multi-axle vehicle, the number of steering, braking and other components is often greater than that of a general vehicle. If the failure rate of each component is constant, the total failure rate of the entire drive, steering and braking system will be higher than that of a general vehicle.

[0003] Distributed drive systems have redundancy capabilities for driving, steering, braking and other driving-related systems. However, due to the difficulty in designing control algorithms, complex system failure conditions, and difficulty in comprehensive coverage, distributed drive systems often fail to demonstrate their due redundancy characteristics. Therefore, how to more comprehensively describe the failures of the vehicle's drive-related systems, and how to automatically handle vehicle failure conditions under various failure conditions by utilizing the strong redundancy capabilities of the distributed drive system to improve the driving reliability of the vehicle, has become a technical problem that needs to be solved urgently in this technical field. Summary of the invention

[0004] The present invention provides a distributed drive vehicle failure condition automatic processing system, the system comprising:

[0005] Vehicle status information collection unit, data processing unit, data analysis unit, automatic processing unit;

[0006] The vehicle status information acquisition unit is used to collect status data of the distributed drive vehicle and send it to the data processing unit;

[0007] The data processing unit is used to process the status data and send the processing result to the data analysis unit;

[0008] The data analysis unit analyzes the working condition of the distributed drive vehicle, identifies and determines the failure working condition, and sends the classification type of the failure working condition to the automatic processing unit;

[0009] The automatic processing unit controls the distributed drive vehicle according to the classification type of the failure condition and automatically processes the vehicle failure condition.

[0010] Furthermore, the vehicle status information collection unit includes a driving wheel speed collection module, a steering angle collection module, and a braking parameter collection module; the status data of the distributed drive vehicle includes the rotational angular velocity of each driving wheel, the steering angle of the steering wheel, and the braking medium pressure of the brake.

[0011] Further, the driving wheel speed acquisition module includes an angular velocity sensor for acquiring the rotational angular velocity of each driving wheel;

[0012] The steering angle acquisition module includes an angle sensor for acquiring the steering angle of the steering wheel;

[0013] The braking parameter acquisition module includes a pressure sensor for acquiring the braking medium pressure of the brake;

[0014] The distributed drive vehicle comprises n drive shafts, with a drive wheel installed on each left and right side of each drive shaft; some or all of the drive wheels are steering wheels, and the same pair of steering wheels is installed on the same drive shaft; and the actuator is installed on some or all of the drive wheels.

[0015] Furthermore, the data processing unit receives the state data at the sampling time, normalizes the data, and generates the left driving wheel driving state feature , right drive wheel driving state characteristics , Steering state characteristic S, Left braking state characteristic , right side braking status characteristics :

[0016]

[0017] in, is the rotational angular velocity of the left driving wheel of the nth driving shaft, is the rotational angular velocity of the right driving wheel of the nth driving shaft; is the rotation angle of a pair of steering wheels on the nth drive shaft. For the ith drive shaft on which the drive wheel is not a steering wheel, the corresponding rotation angle is Recorded as 0; is the brake medium pressure of the brake on the left driving wheel of the nth driving shaft, is the brake medium pressure of the brake on the right driving wheel of the nth driving shaft. For the jth driving shaft on which the driving wheel is installed but no brake is installed, the corresponding brake medium pressure Recorded as 0; , , , , The value interval of is [0,1];

[0018] The data processing unit processes the driving state characteristics of the left driving wheel , right drive wheel driving state characteristics Processing to obtain the driver fusion feature matrix :

[0019]

[0020] in, The left drive wheel driving state characteristics The transposed matrix of .

[0021] The data processing unit processes the left braking state characteristic , right side braking status characteristics Processing is performed to obtain the braking fusion feature matrix :

[0022]

[0023] in, The driving wheel braking state characteristic The transposed matrix of .

[0024] Furthermore, the data processing unit drives the fusion feature matrix , steering state feature S, braking fusion feature matrix Sending to the data analysis unit;

[0025] The data analysis unit receives the driving fusion feature matrix , Braking fusion feature matrix Flatten the vectors respectively to get the driving one-dimensional vector , braking one-dimensional vector :

[0026]

[0027] in, Indicates a flattening operation.

[0028] The data analysis unit processes the driving one-dimensional vector , braking one-dimensional vector , perform concatenation operation on the steering state feature S to obtain a one-dimensional vector :

[0029]

[0030] in are one-dimensional vectors , and ;

[0031] The data analysis unit is based on the one-dimensional vector Get the The probability of the classification type of working condition :

[0032]

[0033] in, For the The weight of each working condition classification type, For the The offset of the working condition classification type, is the number of working condition classifications;

[0034] The data analysis unit will Among the operating condition classifications, the operating condition classification type with the greatest probability is output to the automatic processing unit.

[0035] Furthermore, the operating condition classification types include understeer, oversteer, insufficient power, brake deviation, and vehicle body vibration.

[0036] Furthermore, the automatic processing unit controls the distributed drive vehicle according to the failure condition classification type and automatically processes the vehicle failure condition, specifically including adjusting the driving torque of the driving wheel, adjusting the steering angle of the steering wheel, and adjusting the brake medium pressure of the brake.

[0037] The present invention also relates to a method for automatically processing a failure condition of a distributed drive vehicle, which is applied to the above-mentioned automatic processing system for a failure condition of a distributed drive vehicle, and comprises the following steps:

[0038] S1. The data processing unit receives the above state data at the sampling time, normalizes the data, and generates the driving state characteristics of the left driving wheel , right drive wheel driving state characteristics , Steering state characteristic S, Left braking state characteristic , right side braking status characteristics :

[0039]

[0040] in, is the rotational angular velocity of the left driving wheel of the nth driving shaft, is the rotational angular velocity of the right driving wheel of the nth driving shaft; is the rotation angle of a pair of steering wheels on the nth drive shaft. For the ith drive shaft on which the drive wheel is not a steering wheel, the corresponding rotation angle is Recorded as 0; is the brake medium pressure of the brake on the left driving wheel of the nth driving shaft, is the brake medium pressure of the brake on the right driving wheel of the nth driving shaft. For the jth driving shaft on which the driving wheel is installed but no brake is installed, the corresponding brake medium pressure Recorded as 0, , , , , The value interval of is [0,1];

[0041] The data processing unit processes the driving state characteristics of the left driving wheel , right drive wheel driving state characteristics Processing to obtain the driver fusion feature matrix :

[0042]

[0043] in, The left drive wheel driving state characteristics The transposed matrix of .

[0044] The data processing unit processes the left braking state characteristic , right side braking status characteristics Processing is performed to obtain the braking fusion feature matrix :

[0045]

[0046] in, The driving wheel braking state characteristic The transposed matrix of

[0047] S2. The data processing unit drives the fusion feature matrix , steering state feature S, braking fusion feature matrix Sending to the data analysis unit;

[0048] S3. The data analysis unit receives the driving fusion feature matrix , Braking fusion feature matrix Flatten the vectors respectively to get the driving one-dimensional vector , braking one-dimensional vector :

[0049]

[0050] in, Indicates a flattening operation;

[0051] S4. The data analysis unit analyzes the driving one-dimensional vector , braking one-dimensional vector , perform concatenation operation on the steering state feature S to obtain a one-dimensional vector :

[0052]

[0053] in are one-dimensional vectors , and ;

[0054] S5. The data analysis unit is based on the one-dimensional vector Get the The probability of the classification type of working condition :

[0055]

[0056] in, For the The weight of each working condition classification type, For the The offset of the working condition classification type, is the number of working condition classifications;

[0057] S6. The data analysis unit will Among the working condition classifications, the working condition classification type with the greatest probability is output to the automatic processing unit;

[0058] The working condition classification types include understeering, oversteering, insufficient power, braking deviation, and vehicle body sway;

[0059] S7. The automatic processing unit controls the distributed drive vehicle according to the failure condition classification type and automatically processes the vehicle failure condition, specifically including adjusting the driving torque of the driving wheel, adjusting the steering angle of the steering wheel, and adjusting the brake medium pressure of the brake.

[0060] The present invention also relates to a computer program product, which includes a computer program, and the computer program is executed by a processor to execute the above-mentioned automatic method for failure conditions of a distributed drive vehicle.

[0061] The present invention also relates to a computer-readable storage medium, wherein the computer-readable storage medium is used to store a computer program, and the computer program is executed by a processor to execute the above-mentioned method for automatically processing failure conditions of a distributed drive vehicle.

[0062] The technical solution of the present invention can comprehensively describe the faults of the vehicle drive-related systems, thereby automatically processing the vehicle failure conditions under various fault conditions and improving the driving reliability of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 The present invention is a structural block diagram of a distributed drive vehicle failure condition automatic processing system. DETAILED DESCRIPTION

[0064] The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the scope of protection of the present invention. It should be pointed out that the following detailed description is exemplary and is intended to provide further explanation of the present invention.

[0065] Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those generally understood by those of ordinary skill in the art to which the present invention belongs. It should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0066] Embodiment 1 of the present invention relates to a distributed drive vehicle failure condition automatic processing system, as shown in the attached Figure 1 As shown, the system includes: a vehicle status information acquisition unit, a data processing unit, a data analysis unit, and an automatic processing unit. The vehicle status information acquisition unit is used to collect status data of the distributed drive vehicle and send it to the data processing unit. The data processing unit processes the status data and sends the processing result to the data analysis unit. The data analysis unit analyzes the working condition of the distributed drive vehicle, identifies and determines the failure condition, and sends the failure condition classification type to the automatic processing unit. The automatic processing unit controls the distributed drive vehicle according to the failure condition classification type and automatically processes the vehicle failure condition.

[0067] The vehicle status information acquisition unit includes a driving wheel speed acquisition module, a steering angle acquisition module, and a braking parameter acquisition module. The status data of the distributed drive vehicle includes the rotational angular velocity of each driving wheel, the steering angle of the steering wheel, and the braking medium pressure of the brake.

[0068] Specifically, the driving wheel speed acquisition module includes an angular velocity sensor for acquiring the rotational angular velocity of each driving wheel. The steering angle acquisition module includes an angle sensor for acquiring the steering angle of the steering wheel. The braking parameter acquisition module includes a pressure sensor for acquiring the braking medium pressure of the brake.

[0069] The distributed drive vehicle comprises n drive shafts, each drive shaft is provided with a drive wheel on both sides, some or all of the drive wheels are steering wheels, and the same pair of steering wheels is provided on the same drive shaft, and the actuator is provided on some or all of the drive wheels.

[0070] The data processing unit receives the state data at the sampling time, normalizes the data, and generates a left driving wheel driving state feature. , right drive wheel driving state characteristics , Steering state characteristic S, Left braking state characteristic , right side braking status characteristics :

[0071]

[0072] in, is the rotational angular velocity of the left driving wheel of the nth driving shaft, is the rotational angular velocity of the right driving wheel of the nth driving shaft; is the rotation angle of a pair of steering wheels on the nth drive shaft. For the ith drive shaft on which the drive wheel is not a steering wheel, the corresponding rotation angle is Recorded as 0; is the brake medium pressure of the left brake of the nth drive shaft, is the brake medium pressure of the right brake of the nth drive shaft. For the jth drive shaft on which the drive wheel is installed but no brake is installed, the corresponding brake medium pressure Recorded as 0. , , , , The value interval of is [0,1].

[0073] The data processing unit processes the driving state characteristics of the left driving wheel , right drive wheel driving state characteristics Processing to obtain the driver fusion feature matrix :

[0074]

[0075] in, The left drive wheel driving state characteristics The transposed matrix of .

[0076] The data processing unit processes the left braking state characteristic , right side braking status characteristics Processing is performed to obtain the braking fusion feature matrix :

[0077]

[0078] in, The driving wheel braking state characteristic The transposed matrix of .

[0079] The data processing unit will drive the fusion feature matrix , steering state feature S, braking fusion feature matrix sent to the data analysis unit.

[0080] The data analysis unit receives the driving fusion feature matrix , Braking fusion feature matrix Flatten the vectors respectively to get the driving one-dimensional vector , braking one-dimensional vector :

[0081]

[0082]

[0083] in, Indicates a flattening operation.

[0084] The data analysis unit processes the driving one-dimensional vector , braking one-dimensional vector , perform concatenation operation on the steering state feature S to obtain a one-dimensional vector :

[0085]

[0086] in are one-dimensional vectors , and .

[0087] The data analysis unit is based on the one-dimensional vector Get the The probability of the classification type of working condition :

[0088]

[0089] in, For the The weight of each working condition classification type, For the The offset of the working condition classification type, is the number of working condition classifications.

[0090] The data analysis unit will Among the operating condition classifications, the operating condition classification type with the greatest probability is output to the automatic processing unit.

[0091] The operating condition classification types include understeer, oversteer, lack of power, brake deviation, and vehicle body vibration.

[0092] The automatic processing unit controls the distributed drive vehicle according to the failure condition classification type and automatically processes the vehicle failure condition, specifically including adjusting the driving torque of the driving wheel, adjusting the steering angle of the steering wheel, and adjusting the brake medium pressure of the brake.

[0093] Embodiment 2 of the present invention relates to a method for automatically processing a failure condition of a distributed drive vehicle, the method being implemented by the system of embodiment 1 and comprising the following steps:

[0094] S1. The data processing unit receives the above state data at the sampling time, normalizes the data, and generates the driving state characteristics of the left driving wheel , right drive wheel driving state characteristics , Steering state characteristic S, Left braking state characteristic , right side braking status characteristics :

[0095]

[0096]

[0097]

[0098]

[0099]

[0100] in, is the rotational angular velocity of the left driving wheel of the nth driving shaft, is the rotational angular velocity of the right driving wheel of the nth driving shaft; is the rotation angle of a pair of steering wheels on the nth drive shaft. For the ith drive shaft on which the drive wheel is not a steering wheel, the corresponding rotation angle is Recorded as 0; is the brake medium pressure of the brake on the left driving wheel of the nth driving shaft, is the brake medium pressure of the brake on the right driving wheel of the nth driving shaft. For the jth driving shaft on which the driving wheel is installed but no brake is installed, the corresponding brake medium pressure Recorded as 0, , , , , The value interval of is [0,1];

[0101] The data processing unit processes the driving state characteristics of the left driving wheel , right drive wheel driving state characteristics Processing to obtain the driver fusion feature matrix :

[0102]

[0103] in, The left drive wheel driving state characteristics The transposed matrix of .

[0104] The data processing unit processes the left braking state characteristic , right side braking status characteristics Processing is performed to obtain the braking fusion feature matrix :

[0105]

[0106] in, The driving wheel braking state characteristic The transposed matrix of .

[0107] S2. The data processing unit drives the fusion feature matrix , steering state feature S, braking fusion feature matrix sent to the data analysis unit.

[0108] S3.

[0109] The data analysis unit receives the driving fusion feature matrix , Braking fusion feature matrix Flatten the vectors respectively to get the driving one-dimensional vector , braking one-dimensional vector :

[0110]

[0111]

[0112] in, Indicates a flattening operation.

[0113] S4. The data analysis unit analyzes the driving one-dimensional vector , braking one-dimensional vector , perform concatenation operation on the steering state feature S to obtain a one-dimensional vector :

[0114]

[0115] in are one-dimensional vectors , and .

[0116] S5. The data analysis unit is based on the one-dimensional vector Get the The probability of the classification type of working condition :

[0117]

[0118] in, For the The weight of each working condition classification type, For the The offset of the working condition classification type, is the number of working condition classifications.

[0119] S6. The data analysis unit will Among the operating condition classifications, the operating condition classification type with the greatest probability is output to the automatic processing unit.

[0120] The operating condition classification types include understeer, oversteer, lack of power, brake deviation, and vehicle body vibration.

[0121] S7. The automatic processing unit controls the distributed drive vehicle according to the failure condition classification type and automatically processes the vehicle failure condition, specifically including adjusting the driving torque of the driving wheel, adjusting the steering angle of the steering wheel, and adjusting the brake medium pressure of the brake.

[0122] Embodiment 3 of the present invention relates to a computer program product, which includes a computer program. The computer program is executed by a processor and is used to execute a method for automatically processing failure conditions of a distributed drive vehicle according to embodiment 2.

[0123] Embodiment 4 of the present invention relates to a computer-readable storage medium, which is used to store a computer program. The computer program is executed by a processor to execute a method for automatically processing failure conditions of a distributed drive vehicle according to embodiment 2.

[0124] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A distributed drive vehicle failure condition automatic processing system, characterized in that: The system includes: a vehicle status information collection unit, a data processing unit, a data analysis unit, and an automatic processing unit; The vehicle status information acquisition unit includes a driving wheel speed acquisition module, a steering angle acquisition module, and a braking parameter acquisition module, which are used to collect status data of the distributed drive vehicle, including the rotation angular velocity of each driving wheel, the steering angle of the steering wheel, and the brake medium pressure of the brake, and send them to the data processing unit; The driving wheel speed acquisition module includes an angular velocity sensor for acquiring the rotational angular velocity of each driving wheel; The steering angle acquisition module includes an angle sensor for acquiring the steering angle of the steering wheel; The braking parameter acquisition module includes a pressure sensor for acquiring the braking medium pressure of the brake; The distributed drive vehicle comprises n drive shafts, each drive shaft is provided with a drive wheel on both sides; some or all of the drive wheels are steering wheels, and the same pair of steering wheels is provided on the same drive shaft; the actuator is provided on some or all of the drive wheels; The data processing unit is used to process the state data, including receiving the state data at the sampling time, normalizing the data, and generating the left driving wheel driving state feature. , right drive wheel driving state characteristics , Steering state characteristic S, Left braking state characteristic , right side braking status characteristics : ； in, is the rotational angular velocity of the left driving wheel of the nth driving shaft, is the rotational angular velocity of the right driving wheel of the nth driving shaft; is the rotation angle of a pair of steering wheels on the nth drive shaft. For the ith drive shaft on which the drive wheel is not a steering wheel, the corresponding rotation angle is Recorded as 0; is the brake medium pressure of the brake on the left driving wheel of the nth driving shaft, is the brake medium pressure of the brake on the right driving wheel of the nth driving shaft. For the jth driving shaft on which the driving wheel is installed but no brake is installed, the corresponding brake medium pressure Recorded as 0; , , , , The value interval of is [0,1]; The data processing unit processes the driving state characteristics of the left driving wheel , right drive wheel driving state characteristics Processing to obtain the driver fusion feature matrix : ； in, The left drive wheel driving state characteristics The transposed matrix of The data processing unit processes the left braking state characteristic , right side braking status characteristics Processing is performed to obtain the braking fusion feature matrix : ； in, The driving wheel braking state characteristic The transposed matrix of The data processing unit will drive the fusion feature matrix , steering state feature S, braking fusion feature matrix Sending to the data analysis unit; The data analysis unit analyzes the working condition of the distributed drive vehicle, identifies and determines the failure working condition, and sends the classification type of the failure working condition to the automatic processing unit; The automatic processing unit controls the distributed drive vehicle according to the classification type of the failure condition and automatically processes the vehicle failure condition.

2. A distributed drive vehicle failure condition automatic processing system according to claim 1, characterized in that: The data analysis unit receives the driving fusion feature matrix , Braking fusion feature matrix Flatten the vectors respectively to get the driving one-dimensional vector , braking one-dimensional vector : ； in, Indicates a flattening operation; The data analysis unit processes the driving one-dimensional vector , braking one-dimensional vector , perform concatenation operation on the steering state feature S to obtain a one-dimensional vector : ； in They are one-dimensional vectors , and ; The data analysis unit is based on the one-dimensional vector Get the The probability of the classification type of working condition : ； in, For the The weight of each working condition classification type, For the The offset of the working condition classification type, is the number of working condition classifications; The data analysis unit will Among the operating condition classifications, the operating condition classification type with the greatest probability is output to the automatic processing unit.

3. The distributed drive vehicle failure condition automatic processing system according to claim 2 is characterized in that: The operating condition classification types include understeer, oversteer, lack of power, brake deviation, and vehicle body vibration.

4. The distributed drive vehicle failure condition automatic processing system according to claim 2 is characterized in that: The automatic processing unit controls the distributed drive vehicle according to the failure condition classification type and automatically processes the vehicle failure condition, specifically including adjusting the driving torque of the driving wheel, adjusting the steering angle of the steering wheel, and adjusting the brake medium pressure of the brake.

5. A method for automatically processing a failure condition of a distributed drive vehicle, the method being applied to the automatic processing system for a failure condition of a distributed drive vehicle according to any one of claims 1 to 4, characterized in that: The method comprises the following steps: S1. The data processing unit receives the above state data at the sampling time, normalizes the data, and generates the driving state characteristics of the left driving wheel , right drive wheel driving state characteristics , Steering state characteristic S, Left braking state characteristic , right side braking status characteristics : ； in, is the rotational angular velocity of the left driving wheel of the nth driving shaft, is the rotational angular velocity of the right driving wheel of the nth driving shaft; is the rotation angle of a pair of steering wheels on the nth drive shaft. For the ith drive shaft on which the drive wheel is not a steering wheel, the corresponding rotation angle is Recorded as 0; is the brake medium pressure of the brake on the left driving wheel of the nth driving shaft, is the brake medium pressure of the brake on the right driving wheel of the nth driving shaft. For the jth driving shaft on which the driving wheel is installed but no brake is installed, the corresponding brake medium pressure Recorded as 0, , , , , The value interval of the left driving wheel is [0,1]; the data processing unit processes the driving state characteristics of the left driving wheel , right drive wheel driving state characteristics Processing to obtain the driver fusion feature matrix : ； in, The left drive wheel driving state characteristics The transposed matrix of The data processing unit processes the left braking state characteristic , right side braking status characteristics Processing is performed to obtain the braking fusion feature matrix : ； in, The driving wheel braking state characteristic The transposed matrix of S2. The data processing unit drives the fusion feature matrix , steering state feature S, braking fusion feature matrix Sending to the data analysis unit; S3. The data analysis unit receives the driving fusion feature matrix , Braking fusion feature matrix Flatten the vectors respectively to get the driving one-dimensional vector , braking one-dimensional vector : ； in, Indicates a flattening operation; S4. The data analysis unit analyzes the driving one-dimensional vector , braking one-dimensional vector , perform concatenation operation on the steering state feature S to obtain a one-dimensional vector : ； in They are one-dimensional vectors , and ; S5. The data analysis unit is based on the one-dimensional vector Get the The probability of the classification type of working condition : ； in, For the The weight of each working condition classification type, For the The offset of the working condition classification type, is the number of working condition classifications; S6. The data analysis unit will Among the working condition classifications, the working condition classification type with the greatest probability is output to the automatic processing unit; The working condition classification types include understeering, oversteering, insufficient power, braking deviation, and vehicle body sway; S7. The automatic processing unit controls the distributed drive vehicle according to the failure condition classification type and automatically processes the vehicle failure condition, specifically including adjusting the driving torque of the driving wheel, adjusting the steering angle of the steering wheel, and adjusting the brake medium pressure of the brake.

6. A computer program product, characterized in that The computer program product comprises a computer program, which is executed by a processor and is used to execute the automatic method for failure conditions of a distributed drive vehicle as claimed in claim 5.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store a computer program, and the computer program is executed by a processor to execute the method for automatically processing failure conditions of a distributed drive vehicle as described in claim 5.

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