Fault tolerant velocity control of an urban autonomous vehicle based on a switching strategy

This paper presents a methodology of switching control law following a fault detection of a controller on a longitudinal speed regulation. This method consists on designing a dynamic parity space to detect a fault on a CRONE controller. Then a supervisor is put in place in order to calculate a residue, analyse it and generate a signal to switch from the CRONE controller to the PI and so ensuring the speed regulation despite the fault. Results show that the proposed method ensures a safe functioning of the cruise control despite control faults.