Trends in vehicle motion control for automated driving on public roads |
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| Authors: | Matthijs Klomp Mats Jonasson Leo Laine Leon Henderson Enrico Regolin Stefan Schumi |
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| Affiliation: | 1. Chassis &2. Climate, Volvo Car Group, Gothenburg, Swedenmatthijs.klomp@volvocars.commatthijs@klomp.se;5. Department of Mechanics and Maritime Sciences, Chalmers University of Technology, Gothenburg, Sweden;6. Volvo Global Trucks Technology, Gothenburg, Sweden;7. Dipartimento di Ingegneria Industriale e dell’Informazione, University of Pavia, Pavia, Italy;8. Infineon Technologies, Neubiberg, Germany |
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| Abstract: | ABSTRACTIn this paper, we describe how vehicle systems and the vehicle motion control are affected by automated driving on public roads. We describe the redundancy needed for a road vehicle to meet certain safety goals. The concept of system safety as well as system solutions to fault tolerant actuation of steering and braking and the associated fault tolerant power supply is described. Notably restriction of the operational domain in case of reduced capability of the driving automation system is discussed. Further we consider path tracking, state estimation of vehicle motion control required for automated driving as well as an example of a minimum risk manoeuver and redundant steering by means of differential braking. The steering by differential braking could offer heterogeneous or dissimilar redundancy that complements the redundancy of described fault tolerant steering systems for driving automation equipped vehicles. Finally, the important topic of verification of driving automation systems is addressed. |
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| Keywords: | Chassis control systems autonomous vehicles fault-tolerant control integrated control systems state estimation system safety |
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