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Open Access Publications from the University of California

Scholarly Works (3 results)

  • Article
Research Reports (2004)

This report documents the research results of Task Order 4205 (TO4205), Fault Tolerant Lateral Control for Transient Buses and Trucks performed during 2000-2003. In this task order, we studied the procedures for designing real-time lateral control systems for automated vehicles that are not sensitive to failures of the two key components: a set of magnetometers at the front bumper and another set at the rear bumpers. This problem is important because failures related to either front or rear magnetometers may have immediate effect on the stability of the closed loop control system.

    Cover page: Fault Tolerant Lateral Control for Transit Buses and Trucks
    • Article
    Research Reports (2002)
    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.
      Cover page: Development and Implementation of a Vehicle-Centered Fault Diagnostic and Management System for the Extended PATH-AHS Architecture: Part I
      • Article
      Research Reports (2002)
      This project is a continuation of MOU 373.  It concludes ongoing research to extend and integrate existing results on fault diagnostic and fault management research, and develop a comprehensive fault management system. Features include a multi-layer fault diagnostic and management system, diagnosis of faults in the sensors and actuators of the lateral and longitudinal control systems, detection of faults in the most vital sensors and actuators, and development of a systematic methodology for processing diagnostic residues. Experimental implementation and testing of the completed sys-tem is carried out in this project. This work is important because fault diagnostics and management appear to be the most important technical issues remaining to be resolved before vehicle automation can be implemented. “Soft” faults such as tire/road conditions variations have been extended in this project. An analytical model for calculating the longitudinal and lateral traction/braking forces and the self-alignment moment and the effect of wet road conditions on the tire/road friction model have been discussed and developed in this project.
        Cover page: Development and Implementation of a Vehicle-Centered Fault Diagnostic and Management System for the Extended PATH-AHS Architecture: Part II
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