PATH Current Research: AVCS: AVCS Safety

Vehicle Control Under Abnormal Conditions
Vehicle Control

1. VEHICLE LATERAL CONTROL UNDER FAULT IN FRONT AND/OR REAR SENSORS

Task Order 4204

Masayoshi Tomizuka, University of California, Berkeley
tomizuka@euler.berkeley.edu, http://www.me.berkeley.edu/faculty/tomizuka.html

This project is a continuation of MOU384. It continues a three-year research effort on vehicle lateral control under the conditions of magnetometer failures. It will evaluate the performance and robustness, both analytically and experimentally, of the magnetometer-based lateral control system when either the front or rear set of magnetometers fails. The autonomous lateral control (ALC) system, based on the IRIS technology developed at UCLA to measure the lateral error and yaw error relative to the vehicle in front, will also be studied and combined with the magnetometer-based lateral control system to enhance safety and reliability performance.

Online paper: PRR-2000-25.pdf (1 mb)

2. FAULT TOLERANT LATERAL CONTROL FOR TRANSIT BUSES AND TRUCKS

Task Order 4205

Masayoshi Tomizuka, University of California, Berkeley
tomizuka@euler.berkeley.edu, http://www.me.berkeley.edu/faculty/tomizuka.html

This project is a two-year research effort on the design and implementation of fault-tolerant lateral controllers on transit buses in support of Demo 2002. Under a current PATH project, magnetometer fault tolerance can be achieved by modifying existing lateral control lane-keeping algorithms, but the results work well only at lower speeds. In this project, fault-tolerant controllers that guarantee safe vehicle operations at high speeds will be developed, simulated and experimentally tested. The research will involve developing a control strategy which incorporates considerations of safety, performance and cost, geared towards implementation on transit buses. The new lateral controllers will be integrated with existing higher-level fault detection and identification algorithms. Yaw-rate sensors, gyroscopes and accelerometers will also be included to provide fault tolerant capabilities

3. AUTOMATED FAULT TOLERANT LONGITUDINAL CONTROL OF TRANSIT BUSES

Task Order 4206

Karl Hedrick, University of California, Berkeley
khedrick@me.berkeley.edu, http://www.me.berkeley.edu/faculty/hedrick/index.html

The primary contribution of this project is the development and implementation of a fault tolerant automated longitudinal control system for transit buses, in support of Demo 2002. The research is focused on three main objectives: vehicle modelling, automated longitudinal control, and fault diagnosis and management. The first objective is the development of a realistic vehicle model of transit buses. The model will be simulated and verified using experimental data. The mathematical model will provide the first step in understanding the capabilities, limitations and overall performance of transit buses. The second objective is to design an automated longitudinal controller for a platoon of transit buses. The third objective is the design of a fault diagnostic and management system to detect, identify and compensate for faults in all sensors and actuators involved in the longitudinal control system. The combined system will be tested in simulation and experiment.