Fail-operational lateral control is a necessary aspect of autonomous driving systems to reach SAE level 4 of automated driving. This paper focuses on fault tolerant control reconfiguration techniques for two fault types: a yaw-rate sensor fault and an on-board electric motor fault. The yaw-rate fault reconfiguration combines an estimation of the yaw-rate signal with a smooth switch to a yaw-rate independent controller. The actuator fault reconfiguration is based on control allocation techniques. These algorithms, including Fault Detection and Isolation are implemented in a four-wheel driven electric demonstration vehicle. Both types of reconfiguration strategies are experimentally evaluated in an evasive manoeuvre and the results show that the fault reconfiguration techniques succeed to provide fail-operational behavior.
A Fault Tolerant Lateral Control Strategy for an Autonomous Four Wheel Driven Electric Vehicle
2020 IEEE Intelligent Vehicles Symposium (IV) ; 1492-1497
2020-10-19
2766257 byte
Conference paper
Electronic Resource
English
A FAULT TOLERANT LATERAL CONTROL STRATEGY FOR AN AUTONOMOUS FOUR WHEEL DRIVEN ELECTRIC VEHICLE
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