Development and Implementation of a Vehicle-Centered Fault Diagnostic and Management System for the Extended PATH-AHS Architecture: Part I

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 results have been combined to form a fault diagnostic and management system for the longitudinal and lateral control systems of the automated vehicles which has a hierarchical framework that complements the established PATH control system.  Furthermore, the fault diagnostic module effectively monitors the sensors and actuators required for longitudinal and lateral control, while the fault handling module corrects for any detected faults via controller reconfiguration and degraded modes of operation. “Soft” faults such as tire/road conditions variations have also been investigated in this project. Based on a dynamic friction tire/road model, an emergency braking control law has been developed. Simulation and limited experimental results are provided to validate the design and development