Development of Multiple RLS and Actuator Performance Index-based Adaptive Actuator Fault-Tolerant Control and Detection Algorithms for Longitudinal Autonomous Driving

Sechan Oh; Jongmin Lee; Kwangseok Oh; Kyongsu Yi

doi:10.22680/kasa2022.14.2.026

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2022 Vol.14, Issue 2 Preview Page Next Page

Development of Multiple RLS and Actuator Performance Index-based Adaptive Actuator Fault-Tolerant Control and Detection Algorithms for Longitudinal Autonomous Driving 다중 순환 최소 자승 및 성능 지수 기반 종방향 자율주행을 위한 적응형 구동기 고장 허용 제어 및 탐지 알고리즘 개발

30 June 2022. pp. 26-38

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Abstract

This paper proposes multiple RLS and actuator performance index-based adaptive actuator fault-tolerant control and detection algorithms for longitudinal autonomous driving. The proposed algorithm computes the desired acceleration using feedback law for longitudinal autonomous driving. When actuator fault or performance degradation exists, it is designed that the desired acceleration is adjusted with the calculated feedback gains based on multiple RLS and gradient descent method for fault-tolerant control. In order to define the performance index, the error between the desired and actual accelerations is used. The window-based weighted error standard deviation is computed with the design parameters. Fault level decision algorithm that can represent three fault levels such as normal, warning, emergency levels is proposed in this study. Performance evaluation under various driving scenarios with actuator fault was conducted based on co-simulation of Matlab/Simulink and commercial software (CarMaker).

Keywords

Feedback control

Autonomous driving

Multiple RLS

Fault tolerant control

Performance index

키워드

되먹임 제어

자율주행

다중 순환 최소 자승

고장 허용 제어

성능 지수

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Information

Publisher :Korean Auto-vehicle Safety Association
Publisher(Ko) :한국자동차모빌리티안전학회
Journal Title :Journal of Auto-vehicle Safety Association
Journal Title(Ko) :자동차안전학회지
Volume : 14
No :2
Pages :26-38
Received Date : 2021-02-16
Accepted Date : 2021-03-02
DOI :https://doi.org/10.22680/kasa2022.14.2.026

Journal of Auto-vehicle Safety Association ISSN:2005-9396(Print) 자동차안전학회지

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