Fault tolerance analysis of mixed traffic flow accounting for actuator failures and saturation

This study focuses on the problem of fault tolerance in mixed traffic flow control, which mainly addresses the difficult problem of reduced control effect or even control failure caused by input saturation and vehicle actuator failure, especially in unbalanced traffic flow. To address this problem, we propose a novel unbalanced car-following model that fully considers the effects of actuator failure and input saturation. In addition, the study introduces a quadratic variable exponential spacing strategy for optimizing the spacing control between vehicles, thus improving the stability and responsiveness of the system. On this basis, an adaptive robust fault-tolerant control strategy is proposed to ensure the effectiveness of the original control system in the event of a fault. Through simulation and comparative experiments, it is demonstrated that the control strategy can significantly improve the fault tolerance of hybrid traffic flow and quickly restore the system performance after a fault occurs. The method enables hybrid formations to recover quickly and maintain stable operation when facing multiple fault scenarios. The research results show that the control strategy provides theoretical and practical support for the safety and robustness of future self-driving and semi-autonomous driving transportation systems, helps to promote the further development of intelligent transportation systems, and provides an effective solution to improve the stability and reliability in a mixed traffic flow environment.