Fault-tolerant human-machine shared scheme for collision avoidance of intelligent vehicles considering driver error and actuator fault

• Published in: Vehicle system dynamics Vol. 61; no. 11; pp. 2912 - 2935
• Main Authors: Yan, Mingyue, Chen, Wuwei, Wang, Qidong, Zhao, Linfeng, Cai, Bixin, Liu, Shengshan
• Format: Journal Article
• Language: English
• Published: Abingdon Taylor & Francis 02.11.2023; Taylor & Francis Ltd
• Subjects: actuator fault; Actuators; Algorithms; Collision avoidance; Collision dynamics; driver error; Errors; Fault tolerance; fault-tolerant control; Hardware-in-the-loop simulation; Intelligent vehicle; Intelligent vehicles; Predictive control; Redundancy; shared control; Steering; Tracking; Traffic accidents; trajectory decision-making; Trajectory planning
• ISSN: 0042-3114; 1744-5159
• DOI: 10.1080/00423114.2022.2142616

This paper presents a fault-tolerant human-machine shared scheme for collision avoidance considering driver error and actuator fault. A fault-tolerant method of trajectory planning and decision-making is developed for dealing with the actuator fault. We calculate the remainder trajectory tracking capability of the faulted actuator and utilise the motion redundancy in the system to generate feasible fault-tolerant trajectories for collision avoidance. In addition, an assessment criterion of driver error is conducted to supervise the driver's steering response to the potential collision and actuator fault. The shared system dynamically adjusts the driving authority based on the driver error. A model predictive control (MPC) algorithm is employed for tracking the fault-tolerant trajectory. Simulation and hardware-in-the-loop (HIL) experiment results demonstrate the effectiveness of the presented approach, reducing traffic accidents due to driver error and actuator fault.