Trends in vehicle motion control for automated driving on public roads
| Autor: | Leon Henderson, Leo Laine, Stefan Schumi, Matthijs Klomp, Enrico Regolin, Mats Jonasson |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: |
Engineering
Vehicle Engineering Other Engineering and Technologies not elsewhere specified Path tracking System safety 02 engineering and technology Automotive engineering 0203 mechanical engineering 11. Sustainability In vehicle Redundancy (engineering) state estimation Safety Risk Reliability and Quality Chassis control systems business.industry Mechanical Engineering Minimum risk integrated control systems 020302 automobile design & engineering Fault tolerance fault-tolerant control Motion control Driving automation 020303 mechanical engineering & transports Automotive Engineering system safety autonomous vehicles business Embedded Systems |
| Zdroj: | Vehicle System Dynamics (0042-3114) vol.57(2019) |
| Popis: | In this paper, we describe how vehicle systems and the vehicle motion control are affected by automated driving on public roads. We describe the redundancy needed for a road vehicle to meet certain safety goals. The concept of system safety as well as system solutions to fault tolerant actuation of steering and braking and the associated fault tolerant power supply is described. Notably restriction of the operational domain in case of reduced capability of the driving automation system is discussed. Further we consider path tracking, state estimation of vehicle motion control required for automated driving as well as an example of a minimum risk manoeuver and redundant steering by means of differential braking. The steering by differential braking could offer heterogeneous or dissimilar redundancy that complements the redundancy of described fault tolerant steering systems for driving automation equipped vehicles. Finally, the important topic of verification of driving automation systems is addressed. |
| Databáze: | OpenAIRE |
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