Fault Detection and Handling for Longitudinal Control of AHS

Design of Fault Tolerant Control Systems for AHS

This report describes the research work conducted under CALTRANS MOU 288 on fault detection and handling for automated vehicles. The report describes fault detection and handling designs used in the longitudinal control system of platooned automated vehicles. Results are presented on experimental testing of the designs. During the course of the year the project has extended the past work on fau...

Development and Implementation of a Vehicle-Centered Fault Diagnostic and Management System for the Extended PATH-AHS Architecture: Part I

The purpose of this project is to extend and integrate existing results on fault diagnostics and fault management for passenger vehicles used in automated highway systems (AHS). These results have been combined to form a fault diagnostic and management system for the longitudinal and lateral control systems of the automated vehicles which has a hierarchical framework that complements the establ...

Yaw Rate Control and Actuator Fault Detection and Isolation for a Four Wheel Independent Drive Electric Vehicle

In this paper, a new actuator fault detection and isolation method for a four wheel independent drive electric vehicle is proposed. Also, a controller based on sliding mode control method is proposed for lateral stability of the vehicle. The proposed control method is designed in three high, medium and low levels. At the high-level, the vehicle desired dynamics such as longitudinal speed refere...

Development of Integrated Meso/Microscale Traffic Simulation Software for Testing Fault Detection and Handling Algorithms in AHS: Final Report

Fault-Tolerant Control for Automated Highway Systems

Increasing highway traffic congestion and real estate costs that limit the building of new highways has brought about a renewed interest in an Automated Highway System (AHS) where the vehicle steering task (“lateral control”) and the braking/throttle tasks (“longitudinal control”) are taken over by computers to increase the throughput of existing highways. Since safety plays a key role in the d...