무인 자율 주행 차량의 고장 안전 제어 알고리즘

It is very important for autonomous vehicles to have an ability of detecting and tolerating a fault of each sensor or actuator by itself, because it drives not by a driver’s decision, but by its sensors and actuator. Thus in this paper, a fail-safe control algorithm that an autonomous vehicle can detect and treat with a fault is suggested. It consists of sensors fail-safe algorithm and actuators fail-safe algorithm, which is essential to autonomous driving. The essential sensors are a steering wheel angle sensor, a lateral acceleration sensor, a yaw-rate sensor, and wheel speed sensors. The essential actuators are a motor driven steering actuator, a throttle actuator, brake actuators and a gear-shift actuator. To detect a fault, yaw-rate redundant models, an open loop estimator, a disturbance observer and a longitudinal acceleration model are required. The strategy to tolerate a sensor fault is changing the sensor signal to an estimation and the strategy to tolerate an actuator fault is stopping the vehicle at once.