Fault tolerant design for X-by-wire vehicle

  title={Fault tolerant design for X-by-wire vehicle},
  author={Toshihiro Hiraoka and Shinji Eto and Osamu Nishihara and Hiroki Kumamoto},
  journal={SICE 2004 Annual Conference},
  pages={1940-1945 vol. 3}
This paper proposes a hardware/software design for a fault tolerant X-by-wire system that consists of two front steering motors and four drive motors. The vehicle lateral motion is controlled by active front steering system in the normal state, and by direct yaw-moment control system when the steering systems fail. Numerical simulations demonstrate the… CONTINUE READING