Reference Trajectories for Investigating Fault-Tolerant Trajectory Tracking Control Algorithms for Automated Vehicles

Stolte, Torben; Qiu, Lanbin; Maurer, Markus

doi:10.1016/j.ifacol.2019.09.007

Cited by 6 publications

(7 citation statements)

References 12 publications

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“…For an evaluation of typical sensitivities under nominal operation, we use reference trajectories from a dataset presented in [23]. To generate this set, Stolte et al analyzed a g-g diagram recorded from manual drives under nominal conditions on Braunschweig's inner city ring road.…”

Section: Simulative Resultsmentioning

confidence: 99%

Sensitivity Analysis for Vehicle Dynamics Models -- An Approach to Model Quality Assessment for Automated Vehicles

Nolte¹,

Schubert²,

Reisch³

et al. 2020

Preprint

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Model-based approaches have become increasingly popular in the domain of automated driving. This includes runtime algorithms, such as Model Predictive Control, as well as formal and simulative approaches for the verification of automated vehicle functions. With this trend, the quality of models becomes crucial for automated vehicle safety. Established tools from model theory which can be applied to assure model quality are uncertainty and sensitivity analysis [1].In this paper, we conduct sensitivity analyses for a single and double track vehicle dynamics model to gain insights about the models' behavior under different operating conditions. We compare the models, point out the most important findings regarding the obtained parameters sensitivities, and provide examples of possible applications of the gained insights.

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Section: Simulative Resultsmentioning

confidence: 99%

Sensitivity Analysis for Vehicle Dynamics Models -- An Approach to Model Quality Assessment for Automated Vehicles

Nolte¹,

Schubert²,

Reisch³

et al. 2020

Preprint

Self Cite

View full text Add to dashboard Cite

show abstract

“…Hence, an argumentation is required that fault-tolerant motion control approach in combination with a set of safety strategies at the actuator level ensures safe behavior of the vehicle in any relevant scenario. In this context, we currently evolve an approach to create a set of reference trajectories [72] that represents the regular vehicle motion within a given operational design domain.…”

Section: Discussionmentioning

confidence: 99%

“…Pose error ε = ε t , ε n , ε ψ with its tangential, normal, and yaw components ε t , ε n , and ε ψ . The figure is adopted from [72].…”

Section: Figurementioning

confidence: 99%

Toward Fault-Tolerant Vehicle Motion Control for Over-Actuated Automated Vehicles: A Non-Linear Model Predictive Approach

et al. 2023

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Automated driving systems operated at SAE levels 4 and 5 require a far-reaching fault-tolerant design. To meet this need at the actuator level, we present an integrated vehicle motion control approach that is able to tolerate a wide range of different actuator degradations and failures as well as tire blowouts in vehicles featuring four wheel-individual steering, drive, and brake actuators. The approach, which is based on non-linear model predictive control (MPC), tracks a temporal sequence of reference poses. Fault tolerance is achieved by reconfiguration of the MPC's constraints, weights, and prediction model, which consists of a double-track vehicle and a brush tire model. The evaluation of the approach is based on two reference trajectories. The example of a simple single lane change trajectory in IPG CarMaker demonstrates the basic functionality of the approach. The example of a demanding decelerated single lane change trajectory shows that the approach is subject to limitations when tolerating different degradations and failures. Still, the observed limitations can be explained by the interplay of the specific degradation or failure and the demanding nature of the trajectory. Therefore, the results indicate that the suitability of fault-tolerant vehicle motion control as part of a system-wide safety concept is strongly connected to the range of possible driving scenarios that an automated driving system can encounter.

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“…This would enable a comparison of the functional range that an approach can ensure with the functional range required by a specific application. For example, we introduce a first concept to investigate systematically whether fault-tolerant vehicle motion control is suitable under normal driving conditions for a given automated vehicle application in [269].…”

Section: Discussionmentioning

confidence: 99%

Actuator Fault-Tolerant Vehicle Motion Control: A Survey

Stolte

2021

Preprint

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The advent of automated vehicles operating at SAE levels 4 and 5 poses high fault tolerance demands for all functions contributing to the driving task. At the actuator level, fault-tolerant vehicle motion control, which exploits functional redundancies among the actuators, is one means to achieve the required degree of fault tolerance. Therefore, we give a comprehensive overview of the state of the art in actuator fault-tolerant vehicle motion control with a focus on drive, brake, and steering degradations, as well as tire blowouts. This review shows that actuator fault-tolerant vehicle motion is a widely studied field; yet, the presented approaches differ with respect to many aspects. To provide a starting point for future research, we survey the employed actuator topologies, the tolerated degradations, the presented control approaches, as well as the experiments conducted for validation. Overall, and despite the large number of different approaches, the covered literature reveals the potential of increasing fault tolerance by fault-tolerant vehicle motion control. Thus, besides developing novel approaches or demonstrating real-time applicability, future research should aim at investigating limitations and enabling comparison of fault-tolerant motion control approaches in order to allow for a thorough safety argumentation.

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Reference Trajectories for Investigating Fault-Tolerant Trajectory Tracking Control Algorithms for Automated Vehicles

Cited by 6 publications

References 12 publications

Sensitivity Analysis for Vehicle Dynamics Models -- An Approach to Model Quality Assessment for Automated Vehicles

Sensitivity Analysis for Vehicle Dynamics Models -- An Approach to Model Quality Assessment for Automated Vehicles

Toward Fault-Tolerant Vehicle Motion Control for Over-Actuated Automated Vehicles: A Non-Linear Model Predictive Approach

Actuator Fault-Tolerant Vehicle Motion Control: A Survey

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