Fault-tolerant control design for trajectory tracking in driver assistance systems

Balázs Németh, Péter Gáspár, József Bokor, Olivier Sename, Luc Dugard

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

The paper proposes a control system with the brake and the steering for developing a driver assistance system. The purpose is to design a cruise control method to track the road geometry with a predefned velocity and guarantee the road stability of the vehicle simultaneously. An actuator selection method is developed in the control design, in which the actuator limits, energy requirements and vehicle operations are taken into consideration. The method is extended with a fault-tolerant feature based on a robust LPV method, into which the actuator selection procedure and the detected fault information are incorporated. The operation of the reconfgurable control system is illustrated through various vehicle manoeuvres.

Original languageEnglish
Title of host publication8th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, SAFEPROCESS 2012
Pages186-191
Number of pages6
EditionPART 1
DOIs
Publication statusPublished - Oct 9 2012
Event8th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, SAFEPROCESS 2012 - Mexico City, Mexico
Duration: Aug 29 2012Aug 31 2012

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
Volume8
ISSN (Print)1474-6670

Other

Other8th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, SAFEPROCESS 2012
CountryMexico
CityMexico City
Period8/29/128/31/12

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Keywords

  • Autonomous systems
  • Fault detection
  • Fault-tolerant control
  • Linear parameter varying control
  • Reconfguration
  • Robust control

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Németh, B., Gáspár, P., Bokor, J., Sename, O., & Dugard, L. (2012). Fault-tolerant control design for trajectory tracking in driver assistance systems. In 8th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, SAFEPROCESS 2012 (PART 1 ed., pp. 186-191). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 8, No. PART 1). https://doi.org/10.3182/20120829-3-MX-2028.00102