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http://dx.doi.org/10.22680/kasa2019.11.2.011

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

Yoon, Youngmin (서울대학교 기계항공공학부)
Jeong, Yonghwan (서울대학교 기계항공공학부)
Lee, Jongmin (서울대학교 기계항공공학부)
Yi, Kyongsu (서울대학교 기계항공공학부)
Publication Information
Journal of Auto-vehicle Safety Association / v.11, no.2, 2019 , pp. 11-16 More about this Journal
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.
Keywords
Autonomous driving; Fault detection; Residual; Redundancy; Longitudinal Acceleration; Threshold; Process model;
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