Design of monitoring concepts for motion control of autonomous heavy vehicles
Typ
Examensarbete för masterexamen
Program
Automotive engineering (MPAUT), MSc
Publicerad
2019
Författare
Sokke Nagabhushan, Ajay Kumar
Nadibail, Swasthik Shankara Bhandary
Modellbyggare
Tidskriftstitel
ISSN
Volymtitel
Utgivare
Sammanfattning
Currently, the major trend in the automotive industry is to develop autonomous
vehicles. All OEMs are focusing on increasing automation in their vehicles. Increase
in automation leads to the design of complex safety-critical control algorithm. As
the motion control controls the driving dynamics of the whole autonomous vehicle,
any faults by the motion control may lead to hazardous events. So, in order to
ensure safety, the outputs of the motion control should be monitored to check if the
vehicle is following the intended path. The main objective of the thesis is to design
an algorithm to detect faults affecting the motion on complete vehicle level. The
first part of this report contains findings of a literature review on functional safety,
monitoring concepts and fault detection methods. After completing the literature
review on different fault detection method, it is found that monitor based on forward
dynamics is best suited for this application. The monitor is modelled based on the
single-track model of vehicle. It is discovered that the acceleration is more sensitive
to torque faults than longitudinal velocity for monitoring longitudinal dynamics.
For lateral dynamics, the yaw rate is chosen to monitor as it is found to be sensitive
enough to detect faults. The designed monitor is improved by making it adaptive
monitor in order to ensure safety and robustness. Suitable threshold values are
composed based on the safety goals provided in order to classify as a fault. The
designed monitor is validated in the simulation environment by injecting appropriate
faults. From the results it is found, the monitor based on forward dynamics detects
the faults in longitudinal acceleration and yaw rate quickly, thus ensures safety.
Beskrivning
Ämne/nyckelord
Functional Safety , Automated Driving , Vehicle Dynamics , control system , monitoring concepts