A Fail-Operational Control Architecture Approach and Dead-Reckoning Strategy in Case of Positioning Failures
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2020-01-02
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Abstract
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.
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Publisher Copyright: © 2020 by the authors. Licensee MDPI, Basel, Switzerland.
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Fail-operational systems , Fall-back strategy , Automated driving , Fail-operational systems , Fall-back strategy , Automated driving , Analytical Chemistry , Biochemistry , Atomic and Molecular Physics, and Optics , Instrumentation , Electrical and Electronic Engineering , SDG 11 - Sustainable Cities and Communities , Project ID , info:eu-repo/grantAgreement/EC/H2020/737469/EU/Advancing fail-aware, fail-safe, and fail-operational electronic components, systems, and architectures for fully automated driving to make future mobility safer, affordable, and end-user aceptable/AutoDrive , info:eu-repo/grantAgreement/EC/H2020/737469/EU/Advancing fail-aware, fail-safe, and fail-operational electronic components, systems, and architectures for fully automated driving to make future mobility safer, affordable, and end-user aceptable/AutoDrive , Funding Info , This research was funded by AutoDrive within the Electronic Components and Systems for European Leadership Joint Undertaking (ECSEL JU) in collaboration with the European Union’s H2020 Framework Programme (H2020/2014-2020) and National Authorities, under grant agreement number 737469. , This research was funded by AutoDrive within the Electronic Components and Systems for European Leadership Joint Undertaking (ECSEL JU) in collaboration with the European Union’s H2020 Framework Programme (H2020/2014-2020) and National Authorities, under grant agreement number 737469.
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Matute-Peaspan , J A , Perez , J & Zubizarreta , A 2020 , ' A Fail-Operational Control Architecture Approach and Dead-Reckoning Strategy in Case of Positioning Failures ' , Sensors , vol. 20 , no. 2 , 442 , pp. 442 . https://doi.org/10.3390/s20020442