Fault tolerant control of automatically controlled vehicles in response to brake system failures
Abstract
Increasing highway traffic congestion and high cost of ics. building new highways have brought out a renewed design of an Automated Highway System (AHS). Since safety is an important issue in the development of an AHS, fault-tolerant control in the brake system is vital. In this thesis, nonlinear failure detection filters are used for fault detection of sensors and actuators in a class of nonlinear systems. In this thesis, the effects of brake system failures in an AHS where the vehicle steering task (lateral control) and the braking/throttle tasks (longitudinal control) are considered. It is assumed that each vehicle is equipped with four individual brake actuators, one at each wheel. Detecting faults in a brake system and designing a fault tolerant brake control algorithm will be implemented and demonstrated by vehicle platoon simulations.
Description
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Includes bibliographical references (leaves 51-53).
Includes bibliographical references (leaves 51-53).
Keywords
mechanical engineering., Major mechanical engineering.