In order to improve the fault-tolerant performance of wheel angle sensor steer-by-wire (SBW) vehicle, a fault diagnosis and compensation (FDFTC) strategy for SBW vehicle via extended Kalman filter (EKF) is proposed in this paper. Firstly, steering motor model, rack pinion dynamics model variable transmission ratio are established. Then, based on analytical redundancy method, EKF algorithm adopted obtain estimation signal. On basis, FDFTC with improved majority voting scheme proposed, which...

A novel vehicle dual-motor steer-by-wire (SBW) system is proposed to improve the reliability and safety of traditional SBW system. However, biggest challenge its tracking synchronization control issues. In order solve problems poor caused by load disturbance, parameter perturbation, model mismatch, a strategy via active disturbance rejection proposed. First, driving mechanism analyzed, dynamics established. Then, considering uncertainty, second-order controller designed for position loop...

This article proposes an individual auxiliary and fault-tolerant control (IAFTC) for the electric vehicles with steer-by-wire system considering different drivers steering characteristics. It is composed of controller, a fault detection diagnosis controller (FDDC), controller. The used to specifically assist drivers' behaviors maintain their style when motors are healthy. FDDC detects estimates state parameter actuators in real time as well feedbacks condition or extent partial damage...

Vehicle lateral velocity is critical for the high-level automatic driving technology, andyyfusing Global Position System (GPS) in estimation method can greatly improve accuracy. However, fusing GPS seldom reported, since problem of GPS-outage often appears. Accordingly, this article proposes a novel (VLVEM) based on SBI-LSTM environment. Additionally, VLVEM integrating Inertial Navigation System-aided (INS-aided GPS) derived from Federated Kalman Filter (FKF) algorithm. Furthermore, during...

In order to solve the accuracy problem of future motion prediction surrounding vehicles with different types drivers, this paper proposes a comprehensive lateral method that combines driver intention and vehicle behavior recognition. For optimization models are established: personal optimal model system model. Then, driver’s probability is obtained through game theory. Different from traditional theory, we apply for on premise getting type instead using Nash equilibrium all players....

In order to meet the needs of drivers with different driving styles and improve comfort safety, a personalized design strategy vehicle steer-by-wire (SBW) characteristics considering style is proposed in this paper. Firstly, based on driver hardware-in-the-loop test bench, driver’s characteristic data collected under double lane change condition. Then, K-means clustering algorithm adopted classify into cautious type, general type radical type. Based this, combined results grid search method,...

Intelligent driving technology requires steer-by-wire (SBW) system with a higher level of safety. This article presents novel dual-motor SBW aimed at enhancing the safety and reliability vehicles. However, external disturbances, vehicle parameter changes, asynchronism in steering process can affect stability vehicle. Therefore, layered control strategy is proposed to improve under multiple uncertainties. First all, considering lateral wind-speed, road interference, disturbance, as well limit...

The crash box can absorb energy from the beam as much possible, so to reduce collision damage front part of car body and protect safety passengers. This work proposes a novel filled with three-dimensional negative Poisson’s ratio (NPR) inner core based on an hexagonal cellular structure. In order optimize improve box’s absorption performance, multi-objective optimization model NPR is established, which combines optimal Latin hypercube design method response surface methodology. Then,...

In order to improve the accuracy of fault detection results, this paper proposes a novel strategy vehicle wheel angle signal via long short-term memory network (LSTM) and improved sequential probability ratio test (SPRT). Firstly, estimation method based on data-driven modeling is presented, which fuses current status information adopts LSTM deep learning estimate signal. Then, residual sequence obtained by comparing estimated with measured Based this, SPRT mathematical statistics used...

To improve vehicle side crashworthiness, this paper first introduces the negative Poisson’s ratio structure to traditional B-pillar and proposes a B-pillar. Then, performance of is studied in detail by comparison with honeycomb Aiming at problem that crashworthiness also significantly affected parameters body, factorial analysis theory adopted screen out significant effect. Based on this, combining optimal Latin hypercube design response surface model, multi-objective optimization conducted...

In order to make safe and reasonable decisions in some high-risk environments such as the mandatory lane change, we propose an IMM-based partially observable Markov decision process (POMDP) algorithm using collision-risk function which combines time-to-collision (TTC), intervehicular time (IT), collision for change. The newly proposed contains two parts: vehicle impact factor function, is used assess risk determines whether autonomous collides with surrounding vehicles. IMM-base POMDP...