Fault-tolerant control design for trajectory tracking in driver assistance systems*

The paper proposes a control system with the brake and the steering for developing a driver assistance system. The purpose is to design a cruise control method to track the road geometry with a predefined velocity and guarantee the road stability of the vehicle simultaneously. An actuator selection method is developed in the control design, in which the actuator limits, energy requirements and vehicle operations are taken into consideration. The method is extended with a fault-tolerant feature based on a robust LPV method, into which the actuator selection procedure and the detected fault information are incorporated. The operation of the reconfigurable control system is illustrated through various vehicle manoeuvres.