The invention discloses an actuator fault-tolerant control method and device of an electric vehicle, a storage medium and the vehicle, and belongs to the technical field of electric vehicles. The method comprises the following steps: acquiring vehicle-mounted sensor information and a reference track of the distributed driving electric vehicle; performing trajectory tracking on the vehicle-mounted sensor information and the reference trajectory by adopting an MPC algorithm to obtain an expected front wheel turning angle; when it is determined that at least one steering actuator breaks down according to the information of the vehicle-mounted sensor, the expected front wheel steering angle and the actual front wheel steering angle at the last moment are calculated through a sliding mode control (SMC) algorithm, and differential torque is obtained; when it is determined that at least one driving actuator breaks down according to the vehicle-mounted sensor information, the differential torque is calculated based on an optimal distribution algorithm of tire attachment utilization rate minimization, and the torque at the current moment is obtained; and controlling the steering of the distributed driving electric vehicle according to the torque at the current moment. Reliable control over the vehicle under the condition that the steering actuator and the driving actuator fail at the same time is achieved.

    本申请公开了一种电动汽车的执行器容错控制方法、装置、存储介质及汽车,属于电动汽车技术领域。方法包括:获取分布式驱动电动汽车的车载传感器信息和参考轨迹;采用MPC算法对车载传感器信息和参考轨迹进行轨迹跟踪,得到期望前轮转角;当根据车载传感器信息确定至少一个转向执行器故障时,采用滑模控制SMC算法对期望前轮转角和上一时刻的实际前轮转角进行计算,得到差动力矩;当根据车载传感器信息确定至少一个驱动执行器故障时,基于轮胎附着利用率最小化的优化分配算法对差动力矩进行计算,得到当前时刻转矩;根据当前时刻转矩控制分布式驱动电动汽车的转向。本申请实现车辆在转向执行器和驱动执行器同时失效的情况下的可靠控制。


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    Title :

    Fault-tolerant control method and device for actuator of electric automobile, storage medium and automobile


    Additional title:

    电动汽车的执行器容错控制方法、装置、存储介质及汽车


    Publication date :

    2023-12-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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