Optimized torque allocation strategy on multi-wheel vehicles

Liang, Hongjie; Ma, Yue; Zhi, Jinning; Li, Yang; Peng, Yifan

doi:10.1109/icmic.2017.8321567

Cited by 1 publication

(1 citation statement)

References 7 publications

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“…Fault-tolerant control approaches for offroad vehicles, e. g., [13,14], omnidirectional robots [15][16][17][18], as well as other mobile robots [19][20][21] are not further discussed as their specific application domain poses different requirements from a safety perspective compared to road vehicles. The same applies to fault-tolerant motion control of special purpose vehicles and vehicles with more than four wheels, for instance [22][23][24][25][26][27][28].…”

Section: Focus Of the Surveymentioning

confidence: 99%

Actuator Fault-Tolerant Vehicle Motion Control: A Survey

Stolte

2021

Preprint

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The advent of automated vehicles operating at SAE levels 4 and 5 poses high fault tolerance demands for all functions contributing to the driving task. At the actuator level, fault-tolerant vehicle motion control, which exploits functional redundancies among the actuators, is one means to achieve the required degree of fault tolerance. Therefore, we give a comprehensive overview of the state of the art in actuator fault-tolerant vehicle motion control with a focus on drive, brake, and steering degradations, as well as tire blowouts. This review shows that actuator fault-tolerant vehicle motion is a widely studied field; yet, the presented approaches differ with respect to many aspects. To provide a starting point for future research, we survey the employed actuator topologies, the tolerated degradations, the presented control approaches, as well as the experiments conducted for validation. Overall, and despite the large number of different approaches, the covered literature reveals the potential of increasing fault tolerance by fault-tolerant vehicle motion control. Thus, besides developing novel approaches or demonstrating real-time applicability, future research should aim at investigating limitations and enabling comparison of fault-tolerant motion control approaches in order to allow for a thorough safety argumentation.

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Section: Focus Of the Surveymentioning

confidence: 99%

Actuator Fault-Tolerant Vehicle Motion Control: A Survey

Stolte

2021

Preprint

View full text Add to dashboard Cite

show abstract

Optimized torque allocation strategy on multi-wheel vehicles

Cited by 1 publication

References 7 publications

Actuator Fault-Tolerant Vehicle Motion Control: A Survey

Actuator Fault-Tolerant Vehicle Motion Control: A Survey

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