6WD/6WS 차량의 스티어-바이-와이어 고장 진단 및 고장 안전 주행 제어

Fault detection and tolerant is one of the most important issues in x-by-wire vehicle systems. This paper describes a fault tolerant driving strategy for dealing with independent steer-by-wire system failures in a 6WD/6WS vehicle. When a serious failure is detected in a certain steer-by-wire component, the proposed fault tolerant controller gives a redistributed traction control command to the other components. The proposed fault tolerant controller gives torque command to the faulty wheel component differently, while the other components compensate desired longitudinal and lateral behavior. Fault tolerant performance of a faulty 6WD/6WS vehicle has been evaluated by computer simulations. In order to clarify the advantage of the proposed fault tolerant driving control algorithm, recovery rate of the fault tolerant controller has been defined and calculated.