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Volume 20
Issue 2
10.3390/s20020442
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Article
Peer-Review Record

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

Sensors 2020, 20(2), 442; https://doi.org/10.3390/s20020442
by Jose Angel Matute-Peaspan 1,2,*, Joshue Perez 1 and Asier Zubizarreta 2
Reviewer 1: Anonymous
Reviewer 2:
Jinlin Xue
Sensors 2020, 20(2), 442; https://doi.org/10.3390/s20020442
Submission 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)

Round 1

Reviewer 1 Report

In this paper a fail-operation control architecture is used for a very specific drive situation.

1) For lateral velocity, a simplified bicycle model is used. Why not use a complete model?
2) Pacejka tire model is used for the simulation. How are the Pacejka parameters of the tires obtained? How does the error in these parameters affect the control scheme?
3) Why are the cornering stiffness coefficients used in this simulation? How are these coefficients obtained?
4) Apparently, this work has not been simulated in real test conditions. No detail is given about the instrumentation needed in the real vehicle. If only simulated data is used, how one can be sure that the reality uncertainties are covered?
5) The test scenario is quite limited to a specific situation. To understand the reach and possibilities of the proposed fall back control scheme it would be good to know how the errors or uncertainties in the used model affects the result of the simulation. As only simulation data is presented, how do model parameter error estimation affects the results in the simulation? Have the authors run a sensitivity study to prove the robustness of the control?
6) Results in this study cannot be double-checked as information or specific details about the implementation is limited.

Author Response

First of all, we appreciate the comments and suggestions received from the reviewers and the editor, which have improved the quality of the paper. We reproduce below the reviewers' comments and explain how they have been addressed in the revised version for all reviewers.

Author Response File: Author Response.docx

Reviewer 2 Report

It has significance to develop a fail-operational control architecture approach in case  positioning failures, and the proposed method is approciate, but authors must explain the following question clearly:

(1) Why did not consider the case without GPS signal?

(2) Please illustrate Figure 9 more detailed?

(3) Why is there longer manoeuvre time for the case After object on shoulder than that of Before object on shoulder in Figure 10?

(4) The Vx value is rather low for test, why?

Author Response

First of all, we appreciate the comments and suggestions received from the reviewers and the editor, which have improved the quality of the paper. We reproduce below the reviewers' comments and explain how they have been addressed in the revised version for all reviewers.

Author Response File: Author Response.docx

Round 2

Reviewer 1 Report

My main concern about the paper is that there is no way to reproduce the results obtained by the authors, and therefore they cannot be double checked. Author answer to my points 5 and 6 are lousy. I leave the final decision to the editor.

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