A fail-operational control architecture approach and dead-reckoning strategy in case of positioning failures

Presently, in the event of a failure in Automated Driving Systems, control architectures rely on hardware redundancies over software solutions to assure reliability or wait for human interaction in takeover requests to achieve a minimal risk condition. As user confidence and final acceptance of this...

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Autores: Matute, J.A. (José A.)|||/items/86408046-dc42-4e27-95b1-cae88c5016c7, Pérez-Rastelli, J. (Joshué)|||/items/04553204-375c-44c9-afe0-30ca1810fd40, Zubizarreta, A. (Asier)|||/items/6b26b887-170a-4613-9537-7b8c2c9d69bf
Tipo de recurso: artículo
Fecha de publicación:2020
País:España
Institución:Consejo Superior de Investigaciones Científicas (CSIC)
Repositorio:Dadun. Depósito Académico Digital de la Universidad de Navarra
Idioma:inglés
OAI Identifier:oai:dadun.unav.edu:10171/120617
Acceso en línea:https://hdl.handle.net/10171/120617
Access Level:acceso abierto
Palabra clave:Fail-operational systems
Fall-back strategy
Automated driving
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spelling A fail-operational control architecture approach and dead-reckoning strategy in case of positioning failuresMatute, J.A. (José A.)|||/items/86408046-dc42-4e27-95b1-cae88c5016c7Pérez-Rastelli, J. (Joshué)|||/items/04553204-375c-44c9-afe0-30ca1810fd40Zubizarreta, A. (Asier)|||/items/6b26b887-170a-4613-9537-7b8c2c9d69bfFail-operational systemsFall-back strategyAutomated drivingPresently, in the event of a failure in Automated Driving Systems, control architectures rely on hardware redundancies over software solutions to assure reliability or wait for human interaction in takeover requests to achieve a minimal risk condition. As user confidence and final acceptance of this novel technology are strongly related to enabling safe states, automated fall-back strategies must be assured as a response to failures while the system is performing a dynamic driving task. In this work, a fail-operational control architecture approach and dead-reckoning strategy in case of positioning failures are developed and presented. A fail-operational system is capable of detecting failures in the last available positioning source, warning the decision stage to set up a fall-back strategy and planning a new trajectory in real time. The surrounding objects and road borders are considered during the vehicle motion control after failure, to avoid collisions and lane-keeping purposes. A case study based on a realistic urban scenario is simulated for testing and system verification. It shows that the proposed approach always bears in mind both the passenger’s safety and comfort during the fall-back maneuvering execution.MDPIDadun. Depósito Académico Digital Universidad de Navarra20202020-01-0120202020-01-01journal articlehttp://purl.org/coar/resource_type/c_6501info:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/10171/120617reponame:Dadun. Depósito Académico Digital de la Universidad de Navarrainstname:Consejo Superior de Investigaciones Científicas (CSIC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2info:eu-repo/semantics/openAccessoai:dadun.unav.edu:10171/1206172026-06-21T12:47:57Z
dc.title.none.fl_str_mv A fail-operational control architecture approach and dead-reckoning strategy in case of positioning failures
title A fail-operational control architecture approach and dead-reckoning strategy in case of positioning failures
spellingShingle A fail-operational control architecture approach and dead-reckoning strategy in case of positioning failures
Matute, J.A. (José A.)|||/items/86408046-dc42-4e27-95b1-cae88c5016c7
Fail-operational systems
Fall-back strategy
Automated driving
title_short A fail-operational control architecture approach and dead-reckoning strategy in case of positioning failures
title_full A fail-operational control architecture approach and dead-reckoning strategy in case of positioning failures
title_fullStr A fail-operational control architecture approach and dead-reckoning strategy in case of positioning failures
title_full_unstemmed A fail-operational control architecture approach and dead-reckoning strategy in case of positioning failures
title_sort A fail-operational control architecture approach and dead-reckoning strategy in case of positioning failures
dc.creator.none.fl_str_mv Matute, J.A. (José A.)|||/items/86408046-dc42-4e27-95b1-cae88c5016c7
Pérez-Rastelli, J. (Joshué)|||/items/04553204-375c-44c9-afe0-30ca1810fd40
Zubizarreta, A. (Asier)|||/items/6b26b887-170a-4613-9537-7b8c2c9d69bf
author Matute, J.A. (José A.)|||/items/86408046-dc42-4e27-95b1-cae88c5016c7
author_facet Matute, J.A. (José A.)|||/items/86408046-dc42-4e27-95b1-cae88c5016c7
Pérez-Rastelli, J. (Joshué)|||/items/04553204-375c-44c9-afe0-30ca1810fd40
Zubizarreta, A. (Asier)|||/items/6b26b887-170a-4613-9537-7b8c2c9d69bf
author_role author
author2 Pérez-Rastelli, J. (Joshué)|||/items/04553204-375c-44c9-afe0-30ca1810fd40
Zubizarreta, A. (Asier)|||/items/6b26b887-170a-4613-9537-7b8c2c9d69bf
author2_role author
author
dc.contributor.none.fl_str_mv Dadun. Depósito Académico Digital Universidad de Navarra
dc.subject.none.fl_str_mv Fail-operational systems
Fall-back strategy
Automated driving
topic Fail-operational systems
Fall-back strategy
Automated driving
description Presently, in the event of a failure in Automated Driving Systems, control architectures rely on hardware redundancies over software solutions to assure reliability or wait for human interaction in takeover requests to achieve a minimal risk condition. As user confidence and final acceptance of this novel technology are strongly related to enabling safe states, automated fall-back strategies must be assured as a response to failures while the system is performing a dynamic driving task. In this work, a fail-operational control architecture approach and dead-reckoning strategy in case of positioning failures are developed and presented. A fail-operational system is capable of detecting failures in the last available positioning source, warning the decision stage to set up a fall-back strategy and planning a new trajectory in real time. The surrounding objects and road borders are considered during the vehicle motion control after failure, to avoid collisions and lane-keeping purposes. A case study based on a realistic urban scenario is simulated for testing and system verification. It shows that the proposed approach always bears in mind both the passenger’s safety and comfort during the fall-back maneuvering execution.
publishDate 2020
dc.date.none.fl_str_mv 2020
2020-01-01
2020
2020-01-01
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/10171/120617
url https://hdl.handle.net/10171/120617
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv MDPI
publisher.none.fl_str_mv MDPI
dc.source.none.fl_str_mv reponame:Dadun. Depósito Académico Digital de la Universidad de Navarra
instname:Consejo Superior de Investigaciones Científicas (CSIC)
instname_str Consejo Superior de Investigaciones Científicas (CSIC)
reponame_str Dadun. Depósito Académico Digital de la Universidad de Navarra
collection Dadun. Depósito Académico Digital de la Universidad de Navarra
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,81155

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