Journal
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING
Volume 227, Issue 4, Pages 506-520Publisher
SAGE PUBLICATIONS LTD
DOI: 10.1177/0954407012457507
Keywords
Six-wheel-driving; fail-safe; fault-tolerant; steer-by-wire; tyre force; slip ratio
Funding
- BK21 program
- SNU-IAMD
- Samsung Techwin Co., Ltd
- Korea Research Foundation
- Korean Government (Ministry of Education, Science and Technology) [KRF-2009-200-D00003]
- National Research Foundation of Korea
- Korean Government [2011-0001277]
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This paper describes a fault-tolerant driving control strategy for steer-by-wire system failures in six-wheel-driving-six-wheel-steering vehicles. The fault-tolerant driving control algorithm was designed to obtain vehicle manoeuvrability as close as possible to that of non-faulty vehicles by redistributing the tractive forces of the non-faulty wheels. Since a faulty steer-by-wire system induces a high lateral tyre force, which is the resistance to the yaw motion of the vehicle, a high-wheel slip control strategy is used to minimize the resistive lateral tyre force of the faulty steer-by-wire system. The fault-tolerant driving performance of a faulty six-wheel-driving-six-wheel-steering vehicle was investigated via computer simulations. To investigate the effectiveness of the proposed fault-tolerant driving control algorithm, the fault recovery rate was defined and calculated in terms of the vehicle manoeuvrability. Simulation studies show that the proposed fault-tolerant driving control algorithm can significantly improve the vehicle manoeuvrability, compared with the optimal traction redistribution method.
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