Development and Implementation of a Vehicle-Centered Fault Diagnostic and Management System for the Extended PATH-AHS Architecture: Part I

This report extends and integrates existing results on fault diagnostics and fault management for passenger vehicles used in automated highway systems (AHS). A fault diagnostic and management system has been created for the longitudinal and lateral control systems of automated vehicles. The fault diagnostic module monitors the sensor and actuators required for longitudinal and lateral control. The fault handling module corrects any detected faults via controller reconfiguration and degraded modes of operation. "Soft" faults such as tire/road conditions variations have also been studied. An emergency braking control law has been developed based on a dynamic friction tire/road model. Results from simulation and limited experiments validate the design and development.