Emergency control method and system for steering failure of automatic driving vehicle

The invention discloses an emergency control method for steering failure of an automatic driving vehicle, which comprises the following steps: 1) EPS fault information is monitored in real time in theautomatic driving process of the vehicle; 2) when the EPS fails to steer, the vehicle control unit sends an instruction to the active braking system; (3) the active braking system brakes the single-side wheels to enable the vehicle to be close to the side. According to the principle, when the EPS breaks down, an active braking system (such as an ESC) actively brakes wheels on the inner side expected to steer of the vehicle, steering in the vehicle deceleration process is achieved through the braking torque difference between the two sides of the vehicle, vehicle side parking is completed, driving safety is guaranteed, no control mechanism needs to be additionally arranged, and almost no cost is increased. 本发明揭示了一种自动驾驶车辆转向失效的应急操控方法，包括以下步骤：1)车辆自动驾驶过程中，实时监测EPS故障信息；2)当EPS出现无法转向的故障时，整车控制器发指令至主动制动系统；3)主动制动系统制动单侧车轮使车辆靠边