Fault Detection and Handling for Longitudinal Control

The purpose of this project is to extend and integrate existing results on fault diagnostics and fault management for passenger vehicles used in automated highway systems (AHS). These re-sults have been combined to form a fault diagnostic and management system for the longitudinal control system of the automated vehicles which has a heirarchical framework that complements the established PATH control system. Furthermore, the fault diagnostic module effectively mon-itors all of the sensors and actuators required for longitudinal control, while the fault handling module corrects for any detected faults via controller reconfiguration and degraded modes of op-eration. Simulations using the SHIFT programming language are presented to demonstrate the performance of the fault diagnostic and management system for different fault scenarios. Limited experimental results are also provided to show the initial stages of real-time implementation.

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