%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