Toward Fault-Tolerant Vehicle Motion Control for Over-Actuated Automated Vehicles: A Non-Linear Model Predictive Approach
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 and failures as well as ti...
Main Authors: | , , , , |
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Format: | Article |
Language: | English |
Published: |
IEEE
2023-01-01
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Series: | IEEE Access |
Subjects: | |
Online Access: | https://ieeexplore.ieee.org/document/10024906/ |