Journal of Auto-vehicle Safety Association (자동차안전학회지)

Korean Auto-vehicle Safety Association (한국자동차안전학회)
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Development of an Adaptive Feedback based Actuator Fault Detection and Tolerant Control Algorithms for Longitudinal Autonomous Driving

적응형 되먹임 기반 종방향 자율주행 구동기 고장 탐지 및 허용 제어 알고리즘 개발

  • 오광석 (한경대학교 기계공학과) ;
  • 이종민 (서울대학교 기계항공공학부) ;
  • 송태준 (한경대학교 기계공학과) ;
  • 오세찬 (한경대학교 기계공학과) ;
  • 이경수 (서울대학교 기계항공공학부)
  • Received : 2020.04.14
  • Accepted : 2020.10.28
  • Published : 2020.12.31
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Abstract

This paper presents an adaptive feedback based actuator fault detection and tolerant control algorithms for longitudinal functional safety of autonomous driving. In order to ensure the functional safety of autonomous vehicles, fault detection and tolerant control algorithms are needed for sensors and actuators used for autonomous driving. In this study, adaptive feedback control algorithm to compute the longitudinal acceleration for autonomous driving has been developed based on relationship function using states. The relationship function has been designed using feedback gains and error states for adaptation rule design. The coefficients in the relationship function have been estimated using recursive least square with multiple forgetting factors. The MIT rule has been adopted to design the adaptation rule for feedback gains online. The stability analysis has been conducted based on Lyapunov direct method. The longitudinal acceleration computed by adaptive control algorithm has been compared to the actual acceleration for fault detection of actuators used for longitudinal autonomous driving.

Keywords

Acknowledgement

본 연구는 정부(미래창조과학부)의 재원(NRF-2016R1E1A1A01943543)으로 한국연구재단의 지원을 받아 수행된 사업임.

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