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Fault Diagnosis and Fault-Tolerant Compensation Strategy for Wheel Angle Sensor of Steer-by-Wire Vehicle via Extended Kalman Filter

In order to improve the fault-tolerant performance of wheel angle sensor of steer-by-wire (SBW) vehicle, a fault diagnosis and fault-tolerant compensation (FDFTC) strategy for wheel angle sensor of SBW vehicle via extended Kalman filter (EKF) is proposed in this paper. Firstly, the steering motor model, rack and pinion model, vehicle dynamics model and variable transmission ratio model are established. Then, based on the analytical redundancy method, the EKF algorithm is adopted to obtain the wheel angle estimation signal. On this basis, a sensor FDFTC strategy with improved majority voting scheme is proposed, which is composed of fault diagnosis module and fault isolation compensation module. Finally, combined with Matlab/Simulink and Carsim, the estimation results are analyzed under sinusoidal condition and double lane change condition, and the performance of the proposed FDFTC strategy is further verified under the sensor stuck fault condition, deviation fault condition and noise interference condition. The results indicate that the proposed FDFTC strategy can not only accurately diagnose the fault signal, but also reconstruct the correct wheel angle signal, which is of great significance to improve the safety and reliability of SBW vehicle.