A Fail-Operational Control Architecture Approach and Dead-Reckoning Strategy in Case of Positioning Failures
dc.contributor.author | Matute Peaspán, José Angel | |
dc.contributor.author | Pérez Rastelli, Joshue Manuel | |
dc.contributor.author | Zubizarreta Pico, Asier | |
dc.date.accessioned | 2024-06-10T14:27:58Z | |
dc.date.available | 2024-06-10T14:27:58Z | |
dc.date.issued | 2020-01-13 | |
dc.identifier.citation | Sensors 20(2) : (2020) // Article ID 442 | es_ES |
dc.identifier.issn | 1424-8220 | |
dc.identifier.uri | http://hdl.handle.net/10810/68388 | |
dc.description.abstract | [EN] 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. | es_ES |
dc.description.sponsorship | This research was funded by AutoDrive within the Electronic Components and Systems for European Leadership Joint Undertaking (ECSEL JU) in collaboration with the European Union’s H2020 Framework Programme (H2020/2014-2020) and National Authorities, under grant agreement number 737469. | es_ES |
dc.language.iso | eng | es_ES |
dc.publisher | MDPI | es_ES |
dc.relation | info:eu-repo/grantAgreement/EC/H2020/737469 | es_ES |
dc.rights | info:eu-repo/semantics/openAccess | es_ES |
dc.rights.uri | http://creativecommons.org/licenses/by/4.0/ | * |
dc.subject | fail-operational systems | es_ES |
dc.subject | fall-back strategy | es_ES |
dc.subject | automated driving | es_ES |
dc.title | A Fail-Operational Control Architecture Approach and Dead-Reckoning Strategy in Case of Positioning Failures | es_ES |
dc.type | info:eu-repo/semantics/article | es_ES |
dc.rights.holder | © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/). | es_ES |
dc.relation.publisherversion | https://www.mdpi.com/1424-8220/20/2/442 | es_ES |
dc.identifier.doi | 10.3390/s20020442 | |
dc.contributor.funder | European Commission | |
dc.departamentoes | Ingeniería de sistemas y automática | es_ES |
dc.departamentoeu | Sistemen ingeniaritza eta automatika | es_ES |
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Except where otherwise noted, this item's license is described as © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).