An Emergency Hierarchical Guidance Control Strategy for Autonomous Vehicles

This paper introduces a vehicle guidance control architecture capable of autonomously resolving emergency situations due to steering system failure. situation requires safe stop in the lane by means differential braking. The proposed approach is based on three-level hierarchical composed, from highest lowest, reference generation, control, and allocation level. generation function computes trajectory speed profile be tracked according active mode operation: normal or emergency. Switching information are received fault detection isolation (FDI) supervisor. generates angle braking/accelerating wheels’ torques commands longitudinal lateral tracking errors. At lowest level hierarchy, dynamically redistributes available set actuators, FDI information. For instance, study, promoting braking case failure, guaranteeing acceptable performance both directions. Simulation results prove efficacy approach.