Toward Fault-Tolerant Vehicle Motion Control for Over-Actuated Automated Vehicles: A Non-Linear Model Predictive Approach

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Abstract
Automated driving systems operated at SAE levels 4 and 5 require a far-reaching fault-tolerant design. To meet this need at the actuator level, we present an integrated vehicle motion control approach that is able to tolerate a wide range of different actuator degradations as well as tire blowouts in vehicles featuring four wheel-individual steering, drive, and brake actuators. The approach, which is based on non-linear model predictive control (MPC), tracks a temporal sequence of reference poses. Fault tolerance is achieved by reconfiguration of the MPC’s constraints, weights, and prediction model, which consists of a double-track vehicle and a brush tire model. The evaluation based on the example of a demanding decelerated single lane change trajectory in IPG CarMaker demonstrates the functionality of the approach. Moreover, the example shows that the suitability of fault-tolerant vehicle motion control as part of a system-wide safety concept depends on the range of possible driving scenarios an automated driving system can encounter.
Funding Information
  • “UNICARagil” Project through the German Federal Ministry of Education and Research (16EMO0285)

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