%0 Journal Article %A Matute-Peaspan, Jose Angel %A Perez, Joshue %A Zubizarreta, Asier %T A Fail-Operational Control Architecture Approach and Dead-Reckoning Strategy in Case of Positioning Failures %D 2020 * Multidisciplinary Digital Publishing Institute (MDPI) %X Presently, in the event of a failure in Automated Driving Systems, control architectures rely on hardware redundancies over software solutions to assure reliability or wait for human interaction in takeover requests to achieve a minimal risk condition. As user confidence and final acceptance of this novel technology are strongly related to enabling safe states, automated fall-back strategies must be assured as a response to failures while the system is performing a dynamic driving task. In this work, a fail-operational control architecture approach and dead-reckoning strategy in case of positioning failures are developed and presented. A fail-operational system is capable of detecting failures in the last available positioning source, warning the decision stage to set up a fall-back strategy and planning a new trajectory in real time. The surrounding objects and road borders are considered during the vehicle motion control after failure, to avoid collisions and lane-keeping purposes. A case study based on a realistic urban scenario is simulated for testing and system verification. It shows that the proposed approach always bears in mind both the passenger’s safety and comfort during the fall-back maneuvering execution. %@ 1424-3210 %K Fail-operational systems %K Fall-back strategy %K Automated driving doi 10.3390/s20020442 %U http://hdl.handle.net/11556/854 %~ GOEDOC, SUB GOETTINGEN