Journal of Auto-vehicle Safety Association (자동차안전학회지)

Korean Auto-vehicle Safety Association (한국자동차안전학회)
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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

  • 오세찬 (한경대학교 ICT로봇기계공학부) ;
  • 이종민 (서울대학교 기계항공공학부) ;
  • 오광석 (한경대학교 ICT로봇기계공학부) ;
  • 이경수 (서울대학교 기계항공공학부)
  • Received : 2021.02.16
  • Accepted : 2021.03.02
  • Published : 2022.06.30
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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

Acknowledgement

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

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