Steer-by-Wireとインホイールモータを搭載した車両に対する操舵系と駆動系を相互活用した耐故障ロバスト制御系設計

X-by-wire systems have brought many significant benefits, such as improvement in fuel consumption, pre-crash safety, crash safety, vehicle architectural flexibility, and so on. Therefore, a replacement of all mechanisms of a vehicle by X-by-wire, such as steer-by-wire, shift-by-wire, and brake-by-wire, has been attempted. However, there are many issues with safety if a failure occurs. The difficulty of securing safety prevents X-by-wire products from being popularized. In this paper, we propose a design of a fault tolerant robust control system which is capable of mitigating steering and drive-train system failures. By utilizing the steering system and the drive-train system complementarily, the proposed method does not need an additional redundancy for the fault tolerant purpose. For the steering system failure which should be detected and managed rapidly, the proposed method utilizes the disturbance observer idea to eliminate the fault detection. On the other hand, for the drive-train system failure, a fault detection is equipped. The effectiveness of this method has been verified in simulation.