Fault-tolerant reconfiguration estimation and control of vehicle state under sensor fault

Purpose The purpose of this study proposes a strategy based on vehicle kinematics, dynamics and fusion estimation. The estimation signal of vehicle driving state is crucial for vehicle driving safety and stability control, and the issue of fault-tolerant reconstruction estimation of vehicle driving state under the failure of yaw rate or lateral acceleration sensors is a significant research topic. Design/methodology/approach A strategy based on vehicle kinematics, dynamics and fusion estimation is proposed. To address the issue of inaccurate calculation of tire forces because of sensor failure, a method combining adaptive sliding mode observer, genetic algorithm and particle swarm optimization algorithm is proposed to accurately calculate tire forces, and the Square Root Cubature Kalman Filter algorithm is used to reconstruct the estimation of vehicle driving state under sensor failure. To improve the accuracy of fault-tolerant reconstruction estimation of vehicle driving state, an error-weighted multi-method fusion estimation strategy for vehicle driving state is proposed. A fast terminal sliding mode control algorithm is proposed to control the stability of the fault-tolerant reconstruction estimation signal of vehicle driving state. Findings Simulation results show that the proposed fault-tolerant reconstruction estimation algorithm for vehicle driving state can accurately estimate the actual driving state of the vehicle and stably participate in the vehicle stability control system, achieving fault-tolerant reconstruction estimation and control of vehicle driving state under sensor failure. Originality/value The problem of vehicle motion state estimation under yaw velocity sensor fault or lateral acceleration sensor fault is solved, and fault tolerance control under sensor state is realized.