The invention discloses a vehicle steer-by-wire redundancy control method, which belongs to the technical field of automobile steering and comprises the following steps: judging whether a current vehicle starts redundancy control or not, when the redundancy control is started to realize steering of the vehicle, enabling wheels to enter a differential steering mode I, judging whether a vehicle steering angle is consistent with a vehicle expected steering angle or not, and if yes, starting a differential steering mode II; if yes, the wheels are kept in the first differential steering mode, if not, whether the current turning angle of the vehicle changes or not is judged, if not, the wheels enter the second differential steering mode, and if yes, the wheels enter the third differential steering mode; and when the wheels enter the differential steering mode I, the differential steering mode II or the differential steering mode III, outputting the optimal left front wheel driving force and the optimal right front wheel driving force in the corresponding steering mode by utilizing the fuzzy sliding mode controller and the lower-layer controller according to the expected steering angle of the vehicle. When the steer-by-wire system loses efficacy or key components in the steering system break down, the automobile can steer stably.

    本发明公开了一种车辆线控转向冗余控制方法,属于汽车转向的技术领域,包括:判断当前车辆是否启动冗余控制,当启动冗余控制来实现车辆的转向时,车轮进入差动转向模式一,同时判断车辆转角是否与车辆期望转角一致,若一致,则车轮保持差动转向模式一,若不一致,则判断当前车辆转角是否发生变化,若不变化,则车轮进入差动转向模式二,若变化,则车轮进入差动转向模式三;在车轮进入差动转向模式一、二或者三时,根据车辆期望转角,利用模糊滑模控制器和下层控制器输出对应转向模式下最优的左前轮驱动力和右前轮驱动力。本发明在线控转向系统失效或者转向系统内关键部件出现故障时,使汽车能够平稳转向。


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    Title :

    Vehicle steer-by-wire redundancy control method


    Additional title:

    一种车辆线控转向冗余控制方法


    Contributors:
    XIAO FENG (author) / JIANG YUEYONG (author) / ZHANG XU (author) / JIN LIQIANG (author)

    Publication date :

    2025-02-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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