Abstract
This paper presents an fault-tolerant yaw moment control for a vehicle with steer-by-wire (SBW) and brake-by-wire (BBW) devices. SBWs and BBWs can give active front steering (AFS) and electronic stability control (ESC) functions, respectively. Due to motor-driven devices, actuator and sensor faults are inherent in SBW and BBW, and can cause a critical damage to a vehicle. Simple direct yaw moment control is adopted to design a vehicle stability controller. To cope with actuator failure, weighted pseudo-inverse based control allocation (WPCA) with variable weights is proposed in yaw moment distribution procedure. Simulations on vehicle simulation software, CarSim®, show the proposed method is effective for fail safety.
| Original language | English |
|---|---|
| Pages (from-to) | 463-468 |
| Number of pages | 6 |
| Journal | International Journal of Automotive Technology |
| Volume | 15 |
| Issue number | 3 |
| DOIs | |
| State | Published - Apr 2014 |
Keywords
- Active front steering
- Brake-by-wire
- Electronic stability control
- Fault-tolerant control
- Steer-by-wire
- Weighted pseudo-inverse based control allocation