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Open AccessArticle

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

1
Tecnalia Research & Innovation, 48160 Derio, Spain
2
Department of Automatic Control and Systems Engineering, University of the Basque Country (UPV/EHU), 48013 Bilbao, Spain
*
Author to whom correspondence should be addressed.
Sensors 2020, 20(2), 442; https://doi.org/10.3390/s20020442
Received: 8 December 2019 / Revised: 31 December 2019 / Accepted: 10 January 2020 / Published: 13 January 2020
(This article belongs to the Special Issue Intelligent Vehicles)
Presently, in the event of a failure in Automated Driving Systems, control architectures rely on hardware redundancies over software solutions to assure reliability or wait for human interaction in takeover requests to achieve a minimal risk condition. As user confidence and final acceptance of this novel technology are strongly related to enabling safe states, automated fall-back strategies must be assured as a response to failures while the system is performing a dynamic driving task. In this work, a fail-operational control architecture approach and dead-reckoning strategy in case of positioning failures are developed and presented. A fail-operational system is capable of detecting failures in the last available positioning source, warning the decision stage to set up a fall-back strategy and planning a new trajectory in real time. The surrounding objects and road borders are considered during the vehicle motion control after failure, to avoid collisions and lane-keeping purposes. A case study based on a realistic urban scenario is simulated for testing and system verification. It shows that the proposed approach always bears in mind both the passenger’s safety and comfort during the fall-back maneuvering execution. View Full-Text
Keywords: fail-operational systems; fall-back strategy; automated driving fail-operational systems; fall-back strategy; automated driving
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MDPI and ACS Style

Matute-Peaspan, J.A.; Perez, J.; Zubizarreta, A. A Fail-Operational Control Architecture Approach and Dead-Reckoning Strategy in Case of Positioning Failures. Sensors 2020, 20, 442.

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