H/sub /spl infin// controller for vehicle lateral control under fault in front or rear sensors

This paper presents the design of lateral controllers for automated vehicles under specific sensor fault. The specific fault refers to the failure of one of the two sets of sensors on-board the vehicle which are critical to vehicle lateral control. The aim of the controller design is to accomplish sound performance with the remaining set of sensors. The current vehicle lateral controller, which works with the two sets of sensors, is examined and its ineffectiveness under sensor failures is described. Controllers with one set of sensors are designed using the H/sub /spl infin// optimal control theory. Two controllers are derived, each using one set of the two sets of sensors. Simulation results are presented to demonstrate the effectiveness of the controllers.

[1]  John Lygeros,et al.  Towards A Fault Tolerant Ahs Design Part I: Extended Architecture , 1996 .

[2]  Jürgen Guldner,et al.  Study of design directions for lateral vehicle control , 1997, Proceedings of the 36th IEEE Conference on Decision and Control.

[3]  Pravin Varaiya,et al.  Smart cars on smart roads: problems of control , 1991, IEEE Trans. Autom. Control..

[4]  Han-Shue Tan,et al.  Steering control of high speed vehicles: dynamic look ahead and yaw rate feedback , 1998, Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171).

[5]  Jürgen Guldner,et al.  A general framework for automatic steering control: system analysis , 1997, Proceedings of the 1997 American Control Conference (Cat. No.97CH36041).