Abstract: motors for autonomous driving，in order to achieve self-healing of motor output characteristics under fault conditions and effectively control vehicle lateral displacement. Real time monitoring of the operating status of the vehicleʹs actuator using a motor failure model，triggering a winding reconstruction decision after initial assessment of the risk of failure. Based on the comparison between the mean stator current error and the threshold mean，the angular velocity feedback source is selected，and a self-healing controller is used to achieve feedback control of the motor output driving torque. Input the angular velocity error and the center of mass lateral deviation angle error as state variables into the distributed drive vehicle fault-tolerant controller，determine the lateral motion control law through sliding mode control strategy，and issue it to the execution structure to achieve distributed drive vehicle lateral motion control. The experimental results show that under the open circuit fault of the left front wheel winding，when the winding switches from parallel connection to series connection, the amplitude of the stator current after self-healing control is significantly reduced， the waveform is relatively smooth，and the output driving torque stabilizes at 48N·m after 2s. After fault-tolerant control，the average errors of angular velocity and center of mass lateral deviation angle are 0.33% and 0.25%，respectively，and the average lateral displacement is 0.34m.