This paper investigates the trajectory tracking control problem of steer-by-wire autonomous ground vehicle considering the complete failure of vehicle steering motor. In order to achieve the trajectory tracking control of autonomous ground vehicle in presence of the complete failure of vehicle steering motor, the mechanical transmission mechanism of vehicle steering system is analyzed with the steering motor fault being considered, and the differential steering is used to actuate the turning of vehicle in case of emergency. A model predictive controller with the constraints of tire cornering angle and road adhesion is designed to compute the expected front-wheel steering angle for vehicle trajectory tracking control, and a nonsingular terminal sliding mode controller is proposed to track the expected front-wheel steering angle using differential-steering moment, in which a novel observer design method is presented to estimate the actual front-wheel steering angle. Two case studies are implemented in a CarSim-Simulink co-simulation platform, and the simulation results have verified that the proposed method have satisfactory trajectory tracking control effectiveness in presence of the complete failure of vehicle steering motor.

考虑车辆转向电机完全失效，研究了线控转向自动地面车辆的轨迹跟踪控制问题。为了在车辆转向电机完全失效的情况下实现自主地面车辆的轨迹跟踪控制，分析了车辆转向系统的机械传动机构，并考虑了转向电机故障，并采用差速转向来驱动转向系统。紧急情况下车辆转弯。设计了具有轮胎转弯角和道路附着力约束的模型预测控制器，以计算预期的前轮转向角，以进行车辆轨迹跟踪控制，提出了一种非奇异的终端滑模控制器，利用微分转向力矩跟踪期望的前轮转向角，提出了一种新颖的观测器设计方法来估计实际的前轮转向角。在CarSim-Simulink协同仿真平台上进行了两个案例研究，仿真结果验证了该方法在车辆转向电机完全失效的情况下具有令人满意的轨迹跟踪控制效果。