Matute-Peaspan, Jose AngelPerez, JoshueZubizarreta, Asier2020-01-02Matute-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/s200204421424-3210researchoutputwizard: 11556/854Publisher Copyright: © 2020 by the authors. Licensee MDPI, Basel, Switzerland.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.11376069enginfo:eu-repo/semantics/openAccessjournal article10.3390/s20020442Fail-operational systemsFall-back strategyAutomated drivingFail-operational systemsFall-back strategyAutomated drivingAnalytical ChemistryBiochemistryAtomic and Molecular Physics, and OpticsInstrumentationElectrical and Electronic EngineeringSDG 11 - Sustainable Cities and CommunitiesProject IDinfo: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/AutoDriveinfo: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/AutoDriveFunding InfoThis 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.http://www.scopus.com/inward/record.url?scp=85077941862&partnerID=8YFLogxK