Fault Injection in Actuator Models for Testing of Automated Driving Functions

نویسندگان

چکیده

In this work, a simulation framework for virtual testing of autonomous driving functions under the influence fault occurring in component is presented. The models consist trajectory planning, motion control, actuator management, actuators and vehicle dynamics. Fault-handling tests right-turn maneuver are described, subject to an injected steering system. Different scenarios discussed without with counteractions against fault. results five different criticality metrics discussed. case counteraction, pronounced lateral position deviation ego from reference curve observed. Furthermore, minimal hence most critical time-to-collision (TTC) post-encroachment time (PET) values calculated each scenario together parameter variation initial traffic agent. minimum TTC lowest counteraction. For TTC, cause reduced that can become even lower than fault, corresponding decrease dynamic behavior vehicle. PET, only non-zero value be calculated. With implemented toolchain, automated reaction HAD function non-standard conditions performance investigated. This used test faults on help increase acceptance as part function. assessment situation using combination shown useful, situations.

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ژورنال

عنوان ژورنال: Vehicles

سال: 2023

ISSN: ['2624-8921']

DOI: https://doi.org/10.3390/vehicles5010006