This paper focuses on insufficient perception in blind scenes and the failures of the actuator and sensor of vehicle suspension. The safe speed is designed and the fault-tolerant strategy based on the observer is designed when the actuator and sensor fail simultaneously. A speed planning strategy to ensure that vehicles operate at a safe speed is proposed. The Markov suspension fault jump model considering the suspension sensor and actuator faults is established. Based on the fault estimation obtained by the fault observer, a fault tolerance control strategy of sensor signal reconstruction and actuator fault compensation is adopted. The measurement index for evaluating fault tolerance effectiveness has been established, and an exploration of fault tolerance control is conducted across various fault levels, to identify the preferred fault tolerance strategies corresponding to different levels of fault tolerance. The simulation results show that the designed speed control strategy can improve vehicle safety by decelerating in advance, the fault observer is capable of accurately estimating the true values of actuator and sensor faults. The simulation and vehicle test results demonstrate that similar suspension performance has been obtained by fault-tolerant control strategy and preferred fault tolerance under different fault tolerance levels compared with normal fault tolerance.

Hongbo Wang

Haitao Sun

Zhiwei Fu

Shaohua Li

Haiping Du

Vehicle System Dynamics

VEHICLE SYSTEM DYNAMICS 是一本国际期刊，为车辆工程师和应用科学家提供信息来源。该刊强调各类公路、铁路等地面车辆研发问题的理论背景。主要主题是： 车辆系统及其组件的动力学，包括悬架、转向、制动、底盘系统、噪声-振动-粗糙度、动力传动系；控制影响车辆行为的运动和力；计算机辅助建模与仿真、验证、参数识别与测试、驱动器建模；车辆与环境的相互作用，包括轮轨和轮胎接地行为；主动安全系统，包括碰撞和脱轨警告、避免和缓解；智能车辆、导引车、与车辆动力学相关的自动交通系统、非常规车辆。

Vehicle System Dynamics is an international journal that serves as an important information source for vehicle engineers and applied scientists. The journal emphasizes the theoretical background of various research and development issues related to ground vehicles, including road and rail systems. The main topics of interest include: the dynamics of vehicle systems and their components, such as suspension, steering, braking, chassis systems, noise-vibration-roughness, and powertrains; the control of motion and forces that affect vehicle behavior; computer-aided modeling and simulation, validation, parameter identification and testing, and actuator modeling; the interaction between vehicles and their environment, including wheel-rail and tire-ground interactions; active safety systems, including collision and derailment warnings, avoidance, and mitigation; intelligent vehicles, guided vehicles, and automated traffic systems related to vehicle dynamics, as well as unconventional vehicles.

《Vehicle System Dynamics》是一本国际期刊，旨在为车辆工程师和应用科学家提供重要的信息来源。该期刊重点关注各类公路、铁路等地面车辆的研发问题，强调其理论背景。主要研究主题包括：车辆系统及其组件的动力学，如悬架、转向、制动、底盘系统、噪声-振动-粗糙度、动力传动系统；控制对车辆行为的运动和力的影响；计算机辅助建模与仿真、验证、参数识别与测试、驱动器建模；车辆与环境的相互作用，包括轮轨和轮胎接地行为；主动安全系统，包括碰撞和脱轨警告、避免和缓解措施；智能车辆、导引车以及与车辆动力学相关的自动交通系统和非常规车辆。

Category	Quartile
工程技术	2
工程技术, 工程机械	2

Markov multi-fault tolerance control of intelligent suspension in blind scenes

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Category	Quartile
ENGINEERING, MECHANICAL	1