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Fault Detection and Handling for Longitudinal Control

Author

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  • Yi, Jingang
  • Howell, Adam
  • Horowitz, Roberto
  • Hedrick, Karl
  • Alvarez, Luis

Abstract

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.

Suggested Citation

  • Yi, Jingang & Howell, Adam & Horowitz, Roberto & Hedrick, Karl & Alvarez, Luis, 2001. "Fault Detection and Handling for Longitudinal Control," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt7n15m1wk, Institute of Transportation Studies, UC Berkeley.
    • Handle: RePEc:cdl:itsrrp:qt7n15m1wk
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    References listed on IDEAS

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    1. Patwardhan, Satyajit Neelkanth, 1994. "Fault Detection And Tolerant Control For Lateral Guidance Of Vehicles In Automated Highways," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt40r4082f, Institute of Transportation Studies, UC Berkeley.
    2. Simsek, Hidayet Tunc & Sengupta, Raja & Yovine, Sergio & Eskafi, Farokh, 1999. "Fault Diagnosis for Intra-platoon Communications," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt3fq6247t, Institute of Transportation Studies, UC Berkeley.
    3. Sengupta, Raja, 1999. "Diagnosis and Communication in Distributed Systems," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt94v1s4gc, Institute of Transportation Studies, UC Berkeley.
    4. Carbaugh, Jason & Alvarez, Luis & Chen, Pin-yen & Horowitz, Roberto, 1997. "Smartpath Regulation Layer Implementation: A User's Guide," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt3536n9mx, Institute of Transportation Studies, UC Berkeley.
    5. Deshpande, Akash & Gollu, Aleks & Semenzato, Luigi, 1997. "Shift Reference Manual," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt8090578j, Institute of Transportation Studies, UC Berkeley.
    6. Agogino, Alice & Goebel, Kai & Alag, Sanam, 1997. "Intelligent Sensor Validation And Fusion For Vehicle Guidance Using Probabilistic And Fuzzy Methods," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt2nq1f8n9, Institute of Transportation Studies, UC Berkeley.
    7. Chen, Pin-yen & Alvarez, Luis & Horowitz, Roberto, 1997. "Trajectory Design And Implementation Of Longitudinal Maneuvers On AHS Automated And Transition Lanes," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt9dx8b3gw, Institute of Transportation Studies, UC Berkeley.
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    Cited by:

    1. Yi, Jingang & Suryanarayanan, Shashikanth & Howell, Adam & Horowitz, Roberto & Tomizuka, Masayoshi & Hedrick, Karl & Alvarez, Luis, 2002. "Development and Implementation of a Vehicle-Centered Fault Diagnostic and Management System for the Extended PATH-AHS Architecture: Part I," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt6nh6r02x, Institute of Transportation Studies, UC Berkeley.
    2. Sheu, Jiuh-Biing, 2007. "Microscopic modeling and control logic for incident-responsive automatic vehicle movements in single-automated-lane highway systems," European Journal of Operational Research, Elsevier, vol. 182(2), pages 640-662, October.
    3. Yi, Jingang & Suryanarayanan, Shashikanth & Howell, Adam & Horowitz, Roberto & Tomizuka, Masayoshi & Hedrick, Karl, 2002. "Development and Implementation of a Vehicle-Centered Fault Diagnostic and Management System for the Extended PATH-AHS Architecture: Part II," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt0n77c5rd, Institute of Transportation Studies, UC Berkeley.
    4. Horowitz, Roberto, 2003. "Development of Integrated Meso/Microscale Traffic Simulation Software for Testing Fault Detection and Handling Algorithms in AHS: Final Report," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt61z020hf, Institute of Transportation Studies, UC Berkeley.

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