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Summary & Details

OBSERVER BASED "LOOK-AHEAD" SCHEME FOR FAULT TOLERANT LATERAL CONTROL OF AUTOMATED VEHICLES

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Format: PDF

Price: Non-members (tax incl.)：￥1,100 Members (tax incl.)：￥880

Publication code: 20002966

Paper/Info type: AVEC

No.110

Pages: (Total 6 p)

Date of publication: Aug 2000

Publisher: Others, Unknown

Language: English

Event: AVEC2000

Detailed Information

Author(E)	1) Shashikanth Suryanarayanan, 2) Masayoshi Tomizuka
Affiliation(E)	1) University of California, 2) University of California
Abstract(E)	This paper proposes the design of an observer based fault tolerant control scheme for lateral control of automated vehicles. The fault tolerant algorithm is designed for the scenario of loss of information from either one of two sensors that are critical to the lane-keeping operation on automated highways. The look-ahead distance scheme for lateral control is described and the shortcomings of the geometric look-ahead scheme, from a fault tolerant control perspective, are highlighted. This paper shows how the benefits of the look-ahead scheme can be preserved while equipping the controller with fault tolerant capabilities. In addition, a transparent method to incorporate robust stability properties to uncertainty in the fault model is presented. Simulation results are included to demonstrate achievement of the design goals.

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