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Related Experiment Video

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A Fail-Operational Control Architecture Approach and Dead-Reckoning Strategy in Case of Positioning Failures.

Jose Angel Matute-Peaspan^1,2, Joshue Perez¹, Asier Zubizarreta²

¹Tecnalia Research & Innovation, 48160 Derio, Spain.

Sensors (Basel, Switzerland)

|January 17, 2020

Summary

This study introduces a fail-operational control architecture for automated driving systems. It ensures passenger safety and comfort during failures by planning new trajectories and avoiding collisions.

Keywords:

automated driving fail-operational systems fall-back strategy

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Area of Science:

Robotics
Control Systems Engineering
Automotive Engineering

Background:

Current automated driving systems often rely on hardware redundancy or human intervention for failure management.
Ensuring safe states is crucial for user confidence and acceptance of autonomous technology.
Automated fall-back strategies are necessary for systems performing dynamic driving tasks.

Purpose of the Study:

To develop and present a fail-operational control architecture for automated driving systems.
To introduce a dead-reckoning strategy to handle positioning failures.
To ensure passenger safety and comfort during automated driving system failures.

Main Methods:

A fail-operational control architecture was designed to detect positioning source failures.
A dead-reckoning strategy was implemented for real-time trajectory planning post-failure.
Vehicle motion control considered surrounding objects and road borders for collision avoidance and lane-keeping.

Main Results:

The proposed system successfully detected positioning failures and initiated a fall-back strategy.
Real-time trajectory planning was achieved while maintaining vehicle control.
Simulations in a realistic urban scenario demonstrated the system's effectiveness.

Conclusions:

The developed fail-operational control architecture enhances the reliability of automated driving systems.
The dead-reckoning strategy provides a robust solution for positioning failures.
The approach prioritizes passenger safety and comfort during failure-induced maneuvers.