The invention discloses a fault diagnosis and fault-tolerant control method for in-situ steering of a distributed driving vehicle on a wet and slippery
road surface, and aims to solve the problem of
instability of the vehicle when a driving unit has faults such as driving failure, mechanical locking or excessive slipping. According to the method, the vehicle state is obtained in real time, the initial torque instruction is calculated, and online diagnosis and accurate recognition of the fault mode are achieved. Aiming at hardware faults such as driving failure, the
system breaks and isolates a fault wheel; and aiming at excessive slipping, the torque is preferentially and actively reduced to recover the
adhesive force, and temporary isolation is carried out after
recovery failure. Once the fault unit is confirmed to be isolated, the
system immediately starts a torque reconstruction module based on quadratic
programming (QP), and the driving task is optimally redistributed to the remaining healthy wheels in real time so as to maintain the expected
yaw moment of the whole vehicle. According to the strategy adopted by the invention, faults with different properties can be effectively distinguished and processed in a differentiated manner, and the control stability and
active safety of the vehicle under the conditions of severe work and
partial failure are remarkably improved.