Development of Vehicle Longitudinal Controller Fault Detection Algorithm based on Driving Data for Autonomous Vehicle

자율주행 자동차를 위한 주행 데이터 기반 종방향 제어기 고장 감지 알고리즘 개발

Abstract

This paper suggests an algorithm for detecting fault of longitudinal controller in autonomous vehicles. Guaranteeing safety in fault situation is essential because electronic devices in vehicle are dependent each other. Several methods like alarm to driver, ceding control to driver, and emergency stop are considered to cope with fault. This research investigates the fault monitoring process in fail-safe system, for controller which is responsible for accelerating and decelerating control in vehicle. Residual is computed using desired acceleration control command and actual acceleration, and detection of its abnormal increase leads to the decision that system has fault. Before computing residual for controller, health monitoring process of acceleration signal is performed using hardware and analytic redundancy. In fault monitoring process for controller, a process model which is fitted using driving data is considered to improve the performance. This algorithm is simulated via MATLAB tool to verify performance.

Fig. 1 Outline of vehicle longitudinal controller fault detection algorithm

Fig. 2 Fault detection of vehicle longitudinal controller

Fig. 3 Simulation result of acceleration signal fault detection algorithm.

Fig. 4 Simulation result of vehicle longitudinal controller fault detection algorithm.

Fig. 5 Simulation result of vehicle longitudinal controller fault detection algorithm – comparison with algorithm without process model (a) Desired acceleration and measured acceleration (b) Residual with process model (c) Residual without process model

Table 1 Standard deviation of acceleration signal noise

Table 2 Configuration of residuals and thresholds