Dynamic driving task (DDT) fallback turns to be an essential part in level 3 or higher driving automation systems, which is responsible to either perform the DDT or achieve a minimal risk condition after encountering automated driving system (ADS) failure. As a typical ADS failure, sensor failure can prevent ADS from performing on-road driving safely, and thus a minimal risk condition can be achieved when the failed vehicle stops away from the active lane. Therefore, this paper considers a level 4 ADS-dedicated vehicle encountering front sensor failure in highway traffic. The proposed fallback approach is designed to avoid potential collision with surrounding vehicles while bringing the vehicle to a stop on the designated parking zone, thus achieve a minimal risk condition. Safety constraint is proposed based on the assumption that the failed vehicle is remarkable by surrounding vehicles, and enforced using model predictive control. As a result, simulation is conducted in Carsim/Simulink environment.


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    Title :

    A Fallback Approach for an Automated Vehicle Encountering Sensor Failure in Monitoring Environment


    Contributors:
    Xue, Wei (author) / Yang, Bo (author) / Kaizuka, Tsutomu (author) / Nakano, Kimihiko (author)


    Publication date :

    2018-06-01


    Size :

    2815646 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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