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首页> 外文会议>Conference on Information Storage and Processing Systems >AN INVESTIGATION ON STEERING SENSOR FAULT RECONSTRUCTION OF AUTONOMOUS DRIVING FOR FUNCTIONAL SAFETY USING SLIDING MODE OBSERVER
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AN INVESTIGATION ON STEERING SENSOR FAULT RECONSTRUCTION OF AUTONOMOUS DRIVING FOR FUNCTIONAL SAFETY USING SLIDING MODE OBSERVER

机译：用滑模观测器对功能安全性转向传感器故障重构研究

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This paper investigates on sensor fault reconstruction of sensors used for steering control of autonomous vehicle for functional safety. Sensor information such as steering angle and longitudinal velocity is generally needed for the design of steering feedback control system. If there exists unexpected fault signals in sensors, fatal accident can occur during autonomous driving because controller cannot compute the accurate control input. In this study, the sliding mode observer has been designed for fault reconstruction of steering angle and velocity sensors. In order to design the observer, the bicycle model that represents dynamic relationship between steering angle and velocities such as lateral velocity and yaw rate of vehicle has been used. The stability analysis has been conducted in accordance with velocity of the vehicle. The fault signals in sensors have been reconstructed using the injection term in sliding mode observer with the sliding mode gains designed for the stability. The performance evaluation has been conducted in Matlab/Simulink environment under the curved path tracking scenario.
机译：本文研究了用于传感器传感器的传感器故障重建，用于自主车辆转向控制功能安全性。通常需要传感器信息，例如转向角和纵向速度，用于设计转向反馈控制系统。如果在传感器中存在意外的故障信号，则在自动驾驶期间可能会发生致命事故，因为控制器无法计算精确的控制输入。在该研究中，设计了滑动模式观察者，用于转向角和速度传感器的故障重建。为了设计观察者，已经使用了代表转向角和速度速度与车辆的横向速度和横摆率之间的动态关系的自行车模型。稳定性分析根据车辆的速度进行。通过在滑模观测器中使用喷射术语重建传感器中的故障信号，其具有设计用于稳定性的滑动模式增益。在曲线跟踪方案下，在Matlab / Simulink环境中进行了性能评估。

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