Fault-tolerant yaw moment control with steer — and brake-by-wire devices

This paper presents an fault-tolerant yaw moment control for a vehicle with steer-by-wire (SBW) and brake-by-wire (BBW) devices. SBWs and BBWs can give active front steering (AFS) and electronic stability control (ESC) functions, respectively. Due to motor-driven devices, actuator and sensor faults are inherent in SBW and BBW, and can cause a critical damage to a vehicle. Simple direct yaw moment control is adopted to design a vehicle stability controller. To cope with actuator failure, weighted pseudo-inverse based control allocation (WPCA) with variable weights is proposed in yaw moment distribution procedure. Simulations on vehicle simulation software, CarSim®, show the proposed method is effective for fail safety.