A method for operating an autonomous vehicle. The method includes the transmission of status data to a processing unit, which is independent of the autonomous vehicle, using a wireless communications link. The method furthermore includes monitoring of the function of the autonomous vehicle by the independent processing unit while taking the status data into account, and when a malfunction of the autonomous vehicle is detected, the independent processing unit determines target data for guiding the autonomous vehicle to a stopping position. The target data are transmitted to the autonomous vehicle, and the autonomous vehicle is guided to the stopping position with the aid of the target data. A position of the autonomous vehicle is determined using signals from the wireless communications link and is taken into account when determining the target data.

The present disclosure provides a fault-tolerant tracking control method of a four-wheel distributed electric drive autonomous vehicle. The method depends on a typical four-wheel distributed electric drive vehicle structure, comprising: first, realizing real-time acquisition of an output torque and a fault coefficient of a hub motor through each vehicle-mounted sensor and each parameter observer; then determining whether the vehicle power system enters a fault state, and if the hub motor is in the fault state, entering a set fault-tolerant tracking link; and judging the fault mode of the current vehicle, using different control logics for different fault modes, and finally realizing fault-tolerant control or emergency risk avoiding of the vehicle. According to the present disclosure, aiming at different fault conditions of a power system of the distributed electric drive autonomous vehicle, different coping modes and control strategies are used for guaranteeing the stability and safety of the vehicle as much as possible, and the safety of passengers and goods is guaranteed.

The present disclosure provides a fault-tolerant tracking control method of a four-wheel distributed electric drive autonomous vehicle. The method depends on a typical four-wheel distributed electric drive vehicle structure, comprising: first, realizing real-time acquisition of an output torque and a fault coefficient of a hub motor through each vehicle-mounted sensor and each parameter observer; then determining whether the vehicle power system enters a fault state, and if the hub motor is in the fault state, entering a set fault-tolerant tracking link; and judging the fault mode of the current vehicle, using different control logics for different fault modes, and finally realizing fault-tolerant control or emergency risk avoiding of the vehicle. According to the present disclosure, aiming at different fault conditions of a power system of the distributed electric drive autonomous vehicle, different coping modes and control strategies are used for guaranteeing the stability and safety of the vehicle as much as possible, and the safety of passengers and goods is guaranteed.

A vehicle control device include a processor. The processor is configured to monitor a primary power source and a secondary power source for anomalies, the primary power source and the secondary power source supplying electrical power to a plurality of drive devices configured to control deceleration and steering of a vehicle, and in a case in which an anomaly has been detected in at least one of the primary power source or the secondary power source as a result of the monitoring, control the vehicle by supplying electrical power to a drive device having a lower electrical power consumption amount among the plurality of drive devices.

An automatic drive device includes a fusion unit recognizing travel environment of a vehicle based on an output signal of a surrounding monitoring sensor and a control planning unit generating a control plan based on a recognition result of the fusion unit. A diagnostic device includes an abnormality detection unit that detects an abnormality of a field recognition system from the surrounding monitoring sensor to the fusion unit by monitoring the output signal of the surrounding monitoring sensor and the recognition result of the fusion unit over time. The diagnostic device requests the control planning unit to perform MRM based on a detection of the abnormality of the recognition system by the abnormality detection unit.

An automatic drive device includes a fusion unit recognizing travel environment of a vehicle based on an output signal of a surrounding monitoring sensor and a control planning unit generating a control plan based on a recognition result of the fusion unit. A diagnostic device includes an abnormality detection unit that detects an abnormality of a field recognition system from the surrounding monitoring sensor to the fusion unit by monitoring the output signal of the surrounding monitoring sensor and the recognition result of the fusion unit over time. The diagnostic device requests the control planning unit to perform MRM based on a detection of the abnormality of the recognition system by the abnormality detection unit.

A method (110), a device (10), and a powertrain (70) are provided for the safe operation of a hybrid vehicle (20). The hybrid vehicle has at least one first (30) and one second (40) drive assembly. The drive assemblies in each case drive the hybrid vehicle, alone or jointly in a hybrid type of operation. The first drive assembly is operated using fuel from a fuel tank (50). An amount of fuel in this fuel tank is monitored. If the amount of fuel is smaller than a specifiable value, then a safety operation of the hybrid vehicle is activated. During the safety operation, the output of the second drive assembly is reduced if the hybrid vehicle is driven using a type of operation which negatively influences the driving dynamics of the hybrid vehicle in the case of a failure of the first drive assembly.

A method (110), a device (10), and a powertrain (70) are provided for the safe operation of a hybrid vehicle (20). The hybrid vehicle has at least one first (30) and one second (40) drive assembly. The drive assemblies in each case drive the hybrid vehicle, alone or jointly in a hybrid type of operation. The first drive assembly is operated using fuel from a fuel tank (50). An amount of fuel in this fuel tank is monitored. If the amount of fuel is smaller than a specifiable value, then a safety operation of the hybrid vehicle is activated. During the safety operation, the output of the second drive assembly is reduced if the hybrid vehicle is driven using a type of operation which negatively influences the driving dynamics of the hybrid vehicle in the case of a failure of the first drive assembly.

A pressure of a spare tire of a vehicle is determined. Whether the spare tire is installed is determined based at least in part on the pressure. A vehicle subsystem is actuated based at least in part on whether the spare tire is installed.

A drive force control system for a vehicle having a motor and a battery that allows a driver to sense a satisfactory acceleration even if an output torque of a motor is restricted. The drive force control system comprises a controller that calculates an upper limit acceleration of the vehicle based on an upper limit power to be supplied from the battery to the motor. The controller sets a reference jerk as the required jerk when the upper limit acceleration is equal to or greater than the target acceleration, and sets a corrected jerk that is greater than the reference jerk as the required jerk when the upper limit acceleration is less than the target acceleration.